Anchor chain welding device

Abstract

The present invention discloses an anchor chain welding device, comprising: a welding mechanical arm, a positioning welding machine, a traction power vehicle, and a wire feeding conductor mechanism and a winding traction mechanism fixed to the top surface of the traction power vehicle, one side of the positioning welding machine is fixedly connected with a traction rail, the traction power vehicle is placed on the surface of the traction rail, a laser welding head is fixedly installed at the end of the welding mechanical arm, and the traction power vehicle comprises a mobile vehicle body, an equipment upright pole and a wire adjustment frame. In the present invention, by setting an automatic welding workstation structure, the welding mechanical arm, the traction power vehicle and the wire feeding conductor mechanism respectively perform laser welding, anchor chain crosspiece welding points and traction and winding of the anchor chain, and perform automatic welding of the crosspieces of each section of the anchor chain, and adopt a new independent traction vehicle body structure to drive the anchor chain to move during welding work, adapt to various specifications of heavy-duty anchor chains and mooring chain crosspiece traction welding, and realize automatic welding to improve work efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of anchor chain production, in particular to an anchor chain welding device used for producing ship anchor chains. Background Art

[0002] Anchor chains and mooring chains are widely used in marine vessels, petroleum and other industries. The usual manufacturing method for the crosspieces on the links of anchor chains and mooring chains is to press the crosspieces into the links at 600-700℃. If welding is not performed, they are easy to loosen during use. At present, manual welding is usually performed in factories for crosspieces that need to be welded. Manual welding using carbon dioxide shielded welding has the following problems: 1. Carbon dioxide gas is very harmful to the workers' bodies; 2. Manual welding is inefficient; 3. For mass production, it is difficult to ensure the uniform quality of the welds of manual welding.

[0003] In order to meet the needs of mass production, there is an urgent need for the technology and system of automatic welding of crosspieces to replace manual welding. However, due to the relatively long length of the anchor chain and the mooring chain, which can reach more than 1000m at most, there are many product specifications, the crosspiece diameters range from 12.5mm to 157mm, and the self-weight is extremely large. In addition, the repair chain is a combination of flexibility and rigidity, which makes it difficult to transmit and position. For these reasons, there is currently no mature complete system for automatic welding of anchor chain and mooring chain crosspieces. The anchor chain needs to be pulled and moved manually or wound up with a winding rack. In addition, during the welding process, the crosspiece joint is affected by the excessive size and needs to be supplemented by welding wire to fill the joint structure. The amount of welding wire required for welding large-diameter crosspieces is huge, and the traditional wire feeding structure cannot meet the requirements and has certain defects.

[0004] In view of this, research and improvement are conducted on the existing problems, and an anchor chain welding device is provided to solve the problem that the laser welding device for anchor chain production currently requires manual traction and has no suitable wire feeding structure. The purpose is to solve the problem and improve the practical value through this technology. Summary of the invention

[0005] The present invention aims to solve one of the technical problems existing in the prior art or related technology.

[0006] To this end, the technical solution adopted by the present invention is: an anchor chain welding device, comprising: a welding mechanical arm, a positioning welding machine, a traction power vehicle, and a wire feeding wire mechanism and a winding and traction mechanism fixed to the top surface of the traction power vehicle, one side of the positioning welding machine is fixedly connected to a traction guide rail, the traction power vehicle is placed on the surface of the traction guide rail, the end of the welding mechanical arm is fixedly installed with a laser welding head, the traction power vehicle comprises a mobile vehicle body, an equipment pole and a wire adjustment frame, one side of the mobile vehicle body is fixedly installed with a module mounting frame, the side of the module mounting frame is provided with an auxiliary wheel, the surface of the module mounting frame is slidably installed with a connecting seat, the bottom end of the equipment pole is fixed to the surface of the connecting seat, the surface of the equipment pole is fixedly sleeved with a first connector, and the inner side of the first connector is fixedly sleeved with a first truss for installing the winding and traction mechanism;

[0007] The wire adjustment frame includes a second connector, a second truss, an X-axis adjustment assembly and a Y-axis adjustment assembly. The second connector is fixedly sleeved on the surface of the equipment upright, one end of the second truss is fixedly connected to the surface of the second connector, and the X-axis adjustment assembly is fixedly installed on the other end of the second truss. The wire feeding wire mechanism includes a driving base, a driving disk, a straightening assembly and a wire feeding guide tube. The driving disk is fixedly installed on the surface of the driving base, and a plurality of straightening wheels are rotatably installed on the surface of the straightening assembly. A wire feeding slide is fixedly installed on one end of the straightening assembly, and the wire feeding guide tube is fixedly installed on the surface of the driving disk.

[0008] In a preferred example, the present invention can be further configured as follows: the output end of the driving base is transmission-connected to a driving wheel located on the surface of a driving disk, an adjusting pressure plate is movably mounted on the surface of the driving disk, and a pressure guide wheel abutting against the surface of the driving wheel is rotatably mounted on the surface of the adjusting pressure plate.

[0009] In a preferred example, the present invention can be further configured as follows: an adjusting screw arranged in the same direction as the adjusting pressure plate is rotatably installed on the surface of the driving disk, and one end of the adjusting screw is rotatably connected to the surface of the adjusting pressure plate, and a wire passing groove is provided on the surface of the driving wheel and the pressure guide wheel.

[0010] In a preferred example, the present invention can be further configured as follows: the wire feeding duct and the straightening assembly are located on the same axis and the axis passes between the pressure guide wheel and the driving wheel, the wire feeding duct is a metal spring tube, and a plurality of straightening wheels are arranged in an interlaced manner and located on both sides of the axis.

[0011] In a preferred example, the present invention can be further configured as follows: the winding and traction mechanism includes a deceleration drive seat, a limit turntable and a main reel, the deceleration drive seat is fixedly mounted on the surface of the first truss and the output end is fixedly connected to the surface of the main reel, the limit turntable is respectively located at both ends of the main reel, a plurality of telescopic wing plates are fixedly mounted on the outer side of the main reel, and an elastic top plate is fixedly mounted on the surface of the telescopic wing plates.

[0012] In a preferred example, the present invention can be further configured as follows: a mobile drive assembly is provided inside the mobile body, and the output end of the mobile drive assembly is transmission-connected to a drive wheel with the same structure as the auxiliary wheel, the surfaces of the auxiliary wheel and the drive wheel are provided with gear teeth, and the surface of the traction guide rail is provided with a straight tooth plate meshing with the gear teeth.

[0013] In a preferred example, the present invention can be further configured as follows: the X-axis adjustment component and the Y-axis adjustment component have the same structure and both include a slide rail table, a slide and a screw structure; the slide is slidably installed on the surface of the slide rail table and the bottom surface is sleeved with a threaded sleeve block that is compatible with the screw; the Y-axis adjustment component is fixedly installed on the output end of the X-axis adjustment component and is perpendicular to the arrangement direction of the X-axis adjustment component.

[0014] In a preferred example, the present invention can be further configured as follows: the input end of the welding robot arm is electrically connected to a controller, the positioning welding machine is a motor-driven turntable structure, the output end of the controller is electrically connected to the input ends of the positioning welding machine, the laser welding head, the traction power vehicle, the wire feeding wire mechanism and the winding and traction mechanism, and the controller is a PLC controller or a single-chip microcomputer structure.

[0015] The beneficial effects achieved by the present invention are:

[0016] 1. In the present invention, an automatic welding workstation structure is set up, and laser welding, anchor chain crosspiece welding points and anchor chain traction and winding are performed by a welding robot arm, a traction power vehicle and a wire feeding conductor mechanism, respectively, so as to perform automatic welding of crosspieces of each section of the anchor chain. A new independent traction vehicle body structure is used to drive the anchor chain to move during welding, and it is suitable for traction welding of various specifications of heavy-duty anchor chains and mooring chain crosspieces, so as to realize automatic welding and improve work efficiency.

[0017] 2. In the present invention, by adopting a modular assembly method, the mobile vehicle surface module mounting frame, the equipment upright pole, the wire adjustment frame and various connecting structures are used to perform customized installation of the wire feeding and wire guiding mechanism and the winding and traction mechanism, and the wire feeding and wire guiding mechanism and the winding and traction angle are adjusted according to the welding structure. The wire feeding and wire guiding mechanism and the winding and traction mechanism can also be selected and assembled according to the production specifications of the anchor chain, thereby improving the practicality of the welding structure.

[0018] 3. In the present invention, the wire feeding drive is carried out by the driving machine base, and the wire feeding guide tube and the straightening assembly are used for guiding during the wire transportation. The straightening wheel on the surface of the straightening assembly is used to straighten the wire and accurately transport it to the wire sliding seat. The laser welding head structure is connected to realize automatic wire laying. A large torque driving structure can be used to cope with various large-diameter welding wire transportation, so as to cope with the situation where a large amount of welding wire is required for large-diameter cross-piece welding, thereby ensuring efficient automatic welding. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present invention;

[0020] Figure 2 It is a schematic diagram of the installation structure of the moving vehicle body and the winding and traction mechanism according to one embodiment of the present invention;

[0021] Figure 3 A schematic diagram of the installation structure of a wire feeding conductor mechanism according to an embodiment of the present invention;

[0022] Figure 4 A schematic diagram of the structure of a wire adjustment frame according to an embodiment of the present invention;

[0023] Figure 5 A schematic diagram of the structure of a wire feeding conductor mechanism according to an embodiment of the present invention;

[0024] Figure 6 The figure is a schematic structural diagram of a winding and traction mechanism according to an embodiment of the present invention.

[0025] Reference numerals:

[0026] 100. Welding robot arm; 110. Positioning welding machine; 120. Laser welding head; 130. Pulling guide rail;

[0027] 200, traction power vehicle; 210, mobile vehicle body; 220, equipment pole; 230, wire adjustment frame; 211, module mounting frame; 212, auxiliary wheel; 213, connecting seat; 221, first connector; 222, first truss; 231, second connector; 232, second truss; 233, X-axis adjustment assembly; 234, Y-axis adjustment assembly;

[0028] 300, wire feeding guide mechanism; 310, driving machine base; 320, driving disk; 330, straightening assembly; 340, wire feeding guide tube; 321, driving wheel; 322, adjusting pressure plate; 323, pressure guide wheel; 331, wire feeding slide seat; 332, straightening wheel;

[0029] 400, winding and traction mechanism; 410, speed reduction drive seat; 420, limit turntable; 430, main reel; 431, telescopic wing plate; 432, elastic top plate. DETAILED DESCRIPTION

[0030] To make the purpose, technical solution and advantages of the present invention more clear, the present invention is further described in detail below in combination with specific implementations and with reference to the accompanying drawings. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0031] An anchor chain welding device provided by some embodiments of the present invention will be described below in conjunction with the accompanying drawings.

[0032] Combination Figure 1-6 As shown, the present invention provides an anchor chain welding device suitable for ship anchor chain production, comprising: a welding mechanical arm 100, a positioning welding machine 110, a traction power vehicle 200, and a wire feeding wire mechanism 300 and a winding traction mechanism 400 fixed to the top surface of the traction power vehicle 200, one side of the positioning welding machine 110 is fixedly connected with a traction guide rail 130, the traction power vehicle 200 is placed on the surface of the traction guide rail 130, the end of the welding mechanical arm 100 is fixedly installed with a laser welding head 120, the traction power vehicle 200 comprises a mobile vehicle body 210, an equipment pole 220 and a wire adjustment frame 230, one side of the mobile vehicle body 210 is fixedly installed with a module mounting frame 211, the side of the module mounting frame 211 is provided with an auxiliary wheel 212, the surface of the module mounting frame 211 is slidably installed with a connecting seat 213, the bottom end of the equipment pole 220 is fixed to the surface of the connecting seat 213, and the surface of the equipment pole 220 is fixedly sleeved There is a first connector 221 and the inner side of the first connector 221 is fixedly sleeved with a first truss 222 for installing a winding and traction mechanism 400; the wire adjustment frame 230 includes a second connector 231, a second truss 232, an X-axis adjustment component 233 and a Y-axis adjustment component 234, the second connector 231 is fixedly sleeved on the surface of the equipment upright 220, one end of the second truss 232 is fixedly connected to the surface of the second connector 231, and the X-axis adjustment component 233 is fixedly installed on the other end of the second truss 232. The wire feeding wire mechanism 300 includes a driving base 310, a driving disk 320, a straightening component 330 and a wire feeding guide tube 340, the driving disk 320 is fixedly installed on the surface of the driving base 310, and a plurality of straightening wheels 332 are rotatably installed on the surface of the straightening component 330, a wire feeding slide 331 is fixedly installed on one end of the straightening component 330, and the wire feeding guide tube 340 is fixedly installed on the surface of the driving disk 320.

[0033] In this embodiment, the output end of the driving base 310 is transmission-connected to a driving wheel 321 located on the surface of a driving disk 320, and an adjusting pressure plate 322 is movably mounted on the surface of the driving disk 320, and a pressure guide wheel 323 abutting against the surface of the driving wheel 321 is rotatably mounted on the surface of the adjusting pressure plate 322.

[0034] Furthermore, an adjusting screw arranged in the same direction as the adjusting pressure plate 322 is rotatably installed on the surface of the driving disk 320, and one end of the adjusting screw is rotatably connected to the surface of the adjusting pressure plate 322, and the surfaces of the driving wheel 321 and the pressure guide wheel 323 are provided with wire passing grooves.

[0035] Specifically, the adjustment screw is rotated to adjust the pressure plate 322 to slide and adjust the distance between the pressure guide wheel 323 and the driving wheel 321. The pressure plate 322 and the pressure guide wheel 323 are adjusted to abut the surface of the welding wire, and the driving wheel 321 rotates to pull and transport the welding wire. A large torque reduction motor seat is selected to be located on the driving machine seat 310, so as to realize the straightening operation of the welding wire and adapt to the transportation of large-size welding wires.

[0036] In this embodiment, the wire feeding tube 340 and the straightening assembly 330 are located on the same axis and the axis passes between the pressure guide wheel 323 and the driving wheel 321. The wire feeding tube 340 is a metal spring tube, and a plurality of straightening wheels 332 are arranged in an interlaced manner and located on both sides of the axis.

[0037] Specifically, during the wire traction and transportation, the wire is straightened by the straightening wheel 332 and the wire feed slide 331, and the spring tube structure is used to allow the wire feeding guide tube 340 to be bent at any angle to face the port of the laser welding head 120, thereby reducing the contact friction between the wire and the inner wall of the wire feeding guide tube 340.

[0038] In this embodiment, the winding traction mechanism 400 includes a deceleration drive seat 410, a limit turntable 420 and a main reel 430. The deceleration drive seat 410 is fixedly installed on the surface of the first truss 222 and the output end is fixedly connected to the surface of the main reel 430. The limit turntable 420 is respectively located at both ends of the main reel 430. A plurality of telescopic wing plates 431 are fixedly installed on the outer side of the main reel 430, and an elastic top plate 432 is fixedly installed on the surface of the telescopic wing plates 431.

[0039] Specifically, the main reel 430 is driven to rotate by the reduction drive seat 410 to reel in and pull the welded anchor chain. The anchor chain is wound around the outer side of the telescopic wing plate 431 and is in contact with the elastic top plate 432 through the elastic abutment. As the reeling progresses, the telescopic wing plate 431 gradually retreats, always keeping the outer diameter of the roll the same, so as to control the reeling progress according to the required traction amount.

[0040] In this embodiment, a mobile driving assembly is provided inside the mobile body 210, and the output end of the mobile driving assembly is transmission-connected to a driving wheel having the same structure as the auxiliary wheel 212. The surfaces of the auxiliary wheel 212 and the driving wheel are provided with gear teeth, and the surface of the traction guide rail 130 is provided with a straight tooth plate meshing with the gear teeth.

[0041] Specifically, the toothed plate on the surface of the traction guide rail 130 is meshed with the auxiliary wheel 212 and the surface gear teeth of the driving wheel to avoid slipping during the traction of the heavy anchor chain, to perform stable traction, to ensure that the driving feed is the same each time, and to cooperate with the positioning welding machine 110 for precise positioning.

[0042] In this embodiment, the X-axis adjustment component 233 and the Y-axis adjustment component 234 have the same structure and both include a slide rail, a slide table and a screw rod structure. The slide table is slidably installed on the surface of the slide rail and the bottom surface is sleeved with a threaded sleeve block that is compatible with the screw rod. The Y-axis adjustment component 234 is fixedly installed on the output end of the X-axis adjustment component 233 and is perpendicular to the arrangement direction of the X-axis adjustment component 233.

[0043] Specifically, the screw rod is rotated to adjust the position of the X-axis adjustment assembly 233 and the surface wire feeding guide mechanism 300, so as to adapt and adjust the wire feeding and anchor chain winding and traction angles according to the welding structure to ensure the aligned delivery of the welding wire.

[0044] In this embodiment, the input end of the welding robot arm 100 is electrically connected to a controller, the positioning welding machine 110 is a motor-driven turntable structure, the output end of the controller is electrically connected to the input ends of the positioning welding machine 110, the laser welding head 120, the traction power vehicle 200, the wire feeding wire mechanism 300 and the winding and traction mechanism 400, and the controller is a PLC controller or a single-chip microcomputer structure.

[0045] Specifically, under the numerical control operation of the controller, the welding robot arm 100, the traction power vehicle 200 and the wire feeding conductor mechanism 300 are respectively controlled to perform laser welding, anchor chain crossbar welding points and anchor chain traction and winding, and perform automated welding of crossbars of each section of the anchor chain.

[0046] The working principle and use process of the present invention:

[0047] When using the laser welding device for producing the anchor chain, firstly, the traction power vehicle 200 is arranged on the surface of the traction guide rail 130 and connected to the main control end of the welding robot arm 100, and the control end of the welding robot arm 100 automatically controls the operation and driving of the traction power vehicle 200, the wire feeding wire mechanism 300 and the winding traction mechanism 400 according to the welding progress. In the short chain welding, one end of the anchor chain can be fixed on the surface of the traction power vehicle 200 and the traction power vehicle 200 can be moved on the surface of the traction guide rail 130 for direct traction. In the long chain welding operation, The surface of the traction power vehicle 200 is equipped with a winding and traction mechanism 400 through the first connector 221 and the first truss 222, and one end of the anchor chain is fixed to the surface of the telescopic wing plate 431. The winding drive of the reduction drive seat 410 drives the anchor chain to move with the positioning welding machine 110 to perform anchor chain positioning welding; in the welding process of thicker anchor chains, since there is a large seam at the installation position of the anchor chain crosspiece, supplementary welding is required, and a wire adjustment frame 230 and a wire feeding wire mechanism 300 can be added on the surface of the equipment pole 220 to supplement the welding wire;

[0048] During the welding operation, the control end performs multi-axis servo control of the welding robot arm 100 to adjust the direction of the laser welding head 120 for automatic welding, and the positioning welding machine 110 clamps and fixes the anchor chain links and crosspieces and deflects them to perform automated welding. After the single-section welding is completed, the controller drives the traction power vehicle 200 to move and pull the anchor chain so that the next chain link moves to the surface of the positioning welding machine 110, and the control end drives the surface clamping structure to clamp and position it, and performs the crosspiece welding and fixing of each chain link in turn. The driving wheel 321 is driven to rotate, and after the pressure plate 322 is adjusted to adjust the position, the pressure guide wheel 323 and the driving wheel 321 are respectively in contact with the two sides of the welding wire, and the driving wheel 321 rotates to pull the welding wire through the straightening wheel 332 and the wire feed slide 331 for straightening and passes through the wire feeding guide tube 340 to be transported to the surface of the laser welding head 120, and guided to the welding point for welding.

[0049] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. An anchor chain welding device, characterized in that: include: A welding mechanical arm (100), a positioning welding machine (110), a traction vehicle (200), and a wire feeding wire mechanism (300) and a winding traction mechanism (400) fixed to the top surface of the traction vehicle (200); one side of the positioning welding machine (110) is fixedly connected to a traction rail (130); the traction vehicle (200) is placed on the surface of the traction rail (130); a laser welding head (120) is fixedly installed at the end of the welding mechanical arm (100); the traction vehicle (200) comprises a mobile vehicle body (210), an equipment pole (220) and A wire adjustment frame (230), a module mounting frame (211) is fixedly mounted on one side of the mobile vehicle body (210), an auxiliary wheel (212) is provided on the side of the module mounting frame (211), a connecting seat (213) is slidably mounted on the surface of the module mounting frame (211), the bottom end of the equipment upright pole (220) is fixed to the surface of the connecting seat (213), a first connector (221) is fixedly sleeved on the surface of the equipment upright pole (220), and a first truss (222) for mounting a winding and traction mechanism (400) is fixedly sleeved on the inner side of the first connector (221); The wire adjustment frame (230) comprises a second connector (231), a second truss (232), an X-axis adjustment assembly (233) and a Y-axis adjustment assembly (234); the second connector (231) is fixedly sleeved on the surface of the equipment upright (220); one end of the second truss (232) is fixedly connected to the surface of the second connector (231); the X-axis adjustment assembly (233) is fixedly installed on the other end of the second truss (232); the wire feeding wire mechanism (300) comprises a driving base (310), a driving disk (320), a straightening assembly (330) and a wire feeding guide tube (340); the driving disk (320) is fixedly installed on the surface of the driving base (310); a plurality of straightening wheels (332) are rotatably installed on the surface of the straightening assembly (330); a wire feeding slide seat (331) is fixedly installed on one end of the straightening assembly (330); and the wire feeding guide tube (340) is fixedly installed on the surface of the driving disk (320).

2. The anchor chain welding device according to claim 1, characterized in that: The output end of the driving base (310) is drivingly connected to a driving wheel (321) located on the surface of a driving disk (320); an adjusting pressure plate (322) is movably mounted on the surface of the driving disk (320); and a pressure guide wheel (323) abutting against the surface of the driving wheel (321) is rotatably mounted on the surface of the adjusting pressure plate (322).

3. The anchor chain welding device according to claim 2, characterized in that: An adjusting screw rod arranged in the same direction as the adjusting pressure plate (322) is rotatably mounted on the surface of the driving disk (320), and one end of the adjusting screw rod is rotatably connected to the surface of the adjusting pressure plate (322). The surfaces of the driving wheel (321) and the pressure guide wheel (323) are provided with wire passing grooves.

4. The anchor chain welding device according to claim 2, characterized in that: The wire feeding duct (340) and the straightening assembly (330) are located on the same axis and the axis passes between the pressure guide wheel (323) and the driving wheel (321). The wire feeding duct (340) is a metal spring tube, and a plurality of straightening wheels (332) are arranged in an interlaced manner and are located on both sides of the axis.

5. The anchor chain welding device according to claim 1, characterized in that: The winding and traction mechanism (400) comprises a deceleration drive seat (410), a limit turntable (420) and a main reel (430); the deceleration drive seat (410) is fixedly mounted on the surface of the first truss (222) and an output end is fixedly connected to the surface of the main reel (430); the limit turntable (420) is respectively located at both ends of the main reel (430); a plurality of telescopic wing plates (431) are fixedly mounted on the outer side of the main reel (430); and an elastic top plate (432) is fixedly mounted on the surface of the telescopic wing plates (431).

6. The anchor chain welding device according to claim 1, characterized in that: A mobile driving assembly is provided inside the mobile vehicle body (210), and the output end of the mobile driving assembly is drivingly connected to a driving wheel having the same structure as the auxiliary wheel (212), the surfaces of the auxiliary wheel (212) and the driving wheel are provided with gear teeth, and the surface of the traction guide rail (130) is provided with a spur plate meshing with the gear teeth.

7. The anchor chain welding device according to claim 1, characterized in that: The X-axis adjustment component (233) and the Y-axis adjustment component (234) have the same structure and both include a slide rail platform, a slide table and a screw rod structure. The slide table is slidably mounted on the surface of the slide rail platform and a threaded sleeve block matching the screw rod is sleeved on the bottom surface. The Y-axis adjustment component (234) is fixedly mounted on the output end of the X-axis adjustment component (233) and is perpendicular to the arrangement direction of the X-axis adjustment component (233).

8. The anchor chain welding device according to claim 1, characterized in that: The input end of the welding robot arm (100) is electrically connected to a controller, the positioning welding machine (110) is a motor-driven turntable structure, the output end of the controller is electrically connected to the input ends of the positioning welding machine (110), the laser welding head (120), the traction power vehicle (200), the wire feeding wire mechanism (300) and the winding and traction mechanism (400), and the controller is a PLC controller or a single-chip microcomputer structure.

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