A vertical hollow glass glue depth automatic detection equipment

Abstract

The invention relates to the field of detection equipment, and in particular to a vertical hollow glass glue depth automatic detection equipment, comprising a deflection detection device and an adjustment device, wherein the deflection detection device is located at the top of the adjustment device and is connected to the adjustment device, and the deflection detection device comprises a sleeve: and also comprises: a buffer deceleration component connected to the sleeve. The invention reduces the rotation speed of the output shaft of a second servo motor by utilizing the buffer deceleration component, so that the threaded column can run smoothly and at a low speed, so that the probe can move slowly, so as to facilitate the detection of glass glue with a shallow depth, and at the same time utilizes the adjustment device and a rodless cylinder to perform separate detection on each point inside the glass glue, thereby improving the accuracy of the detection result, so as to solve the problem that the detection cost of the existing detection equipment is high and the detection result is not accurate enough.

Description

Technical Field

[0001] The invention relates to the field of detection equipment, and in particular to a vertical hollow glass glue depth automatic detection equipment. Background Art

[0002] At present, in the existing vertical insulating glass automatic sealing line, the glue output can be controlled by detecting the glue depth. The existing detection equipment converts the linear drive into the potential difference of the rotary potentiometer, and then converts the potential difference into a value, which can conveniently and accurately measure the glue output depth. However, the detection equipment requires the use of additional electrical appliances and electrical components, which greatly increases the detection cost;

[0003] At the same time, when the detection equipment is in use, it can only detect a single position of the vertical insulating glass automatic sealing line. However, due to the authority of the glue injection process, the depth of the glass glue in the existing vertical insulating glass automatic sealing line is different. If a single position is detected, the result obtained at this time is not accurate enough;

[0004] Therefore, it is necessary to invent a vertical hollow glass glue depth automatic detection device. Summary of the invention

[0005] To this end, the present invention provides a vertical hollow glass glue depth automatic detection equipment, which reduces the rotation speed of the second servo motor output shaft by utilizing a buffer deceleration component, so that the threaded column can run smoothly and at a low speed, so that the probe can move slowly, thereby facilitating the detection of glass glue with a shallow depth. At the same time, an adjustment device and a rodless cylinder are used to perform separate detection of each point inside the glass glue, thereby improving the accuracy of the detection result, so as to solve the problem that the existing detection equipment has high detection cost and inaccurate detection results.

[0006] In order to achieve the above-mentioned object, the present invention provides the following technical solutions: a vertical hollow glass glue depth automatic detection device, comprising a deflection detection device and an adjustment device, wherein the deflection detection device is located on the top of the adjustment device and is connected to the adjustment device, and the deflection detection device comprises a sleeve and also comprises a buffer deceleration component connected to the sleeve;

[0007] The buffer deceleration assembly comprises an outer cover body, an inner cover body is fixedly installed on the inner side wall of the outer cover body, the outer cover body and the inner cover body are concentrically arranged, receiving holes are provided at the center of the outer cover body and the inner cover body, an inner gear ring is fixedly installed on the inner side wall of the inner cover body, receiving slots are provided on both sides of the outer cover body, an annular cover is inserted in the inner side wall of the inner cover body, the annular cover and the inner cover body are concentrically arranged, an insert column is fixedly installed at the center of the top of the annular cover, the insert column is inserted in the inner side wall of the receiving hole, three sets of planetary gears are rotatably connected to the inner side wall of the top of the annular cover, and the annular cover A sun gear is rotatably connected at the center of the inner wall of the top, and the sun gear is meshed with the three groups of planetary gears. Three groups of arc grooves are opened on the side wall of the annular cover, and the three groups of arc grooves are rotatably connected with the three groups of planetary gears respectively. A bottom cover with a hole is provided at the bottom of the outer cover body, and the bottom cover with a hole is concentrically arranged with the outer cover body. Insert blocks are fixedly installed on both sides of the bottom cover with a hole, and two groups of insert blocks are respectively plugged into two groups of receiving slots. The top of the bottom cover with a hole is movably contacted with the bottom of the annular cover, and a receiving cover is rotatably connected at the center of the bottom cover with a hole, and the top of the receiving cover is fixedly connected to the bottom of the sun gear.

[0008] Preferably, the top of the sleeve is fixedly connected to the bottom of the bottom cover with a hole, the inner wall of the top of the sleeve is rotatably connected with a threaded column, the top of the threaded column located outside the sleeve is fixedly connected to the inner wall of the rotating cover, the inner walls on both sides of the bottom of the sleeve are provided with sliding grooves, and the two groups of inner walls of the sliding grooves are slidably connected with the same limiting sleeve, the inner wall of the limiting sleeve is fixedly installed with a threaded sleeve, the threaded column is meshed with the internal thread of the threaded sleeve, and a probe is fixedly installed at the bottom of the threaded sleeve.

[0009] Preferably, the buffer deceleration assembly also includes a base plate, a first rotary cylinder is fixedly installed on one side of the top of the base plate, a rodless cylinder is fixedly installed on the output end of the first rotary cylinder, a sliding frame is slidably connected to the bottom of the rodless cylinder, a cylinder is fixedly installed on the bottom of the sliding frame, a second rotary cylinder is fixedly installed on the output end of the cylinder, a second servo motor is fixedly installed on the output end of the second rotary cylinder, and the output shaft of the second servo motor is fixedly connected to the top of the column.

[0010] Preferably, the adjusting device comprises a cross frame, the cross frame is provided with two groups, the same frame plate is clamped in the middle of the two groups of cross frames, receiving frames are fixedly installed on both sides of the bottom of the cross frame, third servo motors are fixedly installed on the outer sides of the two groups of receiving frames, Mecanum wheels are fixedly installed on the output shafts of the two groups of third servo motors, receiving frames are fixedly installed on both sides of the top of the frame plate, the interiors of the two groups of receiving frames are hollow, the same receiving plate is fixedly installed on the inner walls on both sides of the top of the receiving frame located on the left, a threaded hole is opened at the center of the receiving plate, the same H-shaped frame is plugged into the inner walls of the two groups of receiving frames, the inner walls on both sides of the H-shaped frame are hollow, a threaded rod is rotatably connected to the top of the left inner wall of the H-shaped frame, the threaded rod is meshed with the threaded hole, a fourth servo motor is fixedly installed on the top of the left side of the H-shaped frame, the output shaft of the fourth servo motor is fixedly connected to the top of the threaded rod, and the bottom of the base plate is fixedly connected to the top of the H-shaped frame.

[0011] The beneficial effects of the present invention are:

[0012] When the glue depth is detected, by driving the second servo motor, the output shaft of the second servo motor drives the plug column to rotate, so that the plug column drives the annular cover to rotate, so that the three sets of planetary gears in the annular cover rotate with the annular cover, so that the three sets of planetary gears are meshed with the inner gear ring in the inner cover body, so that the three sets of planetary gears rotate, and at the same time rotate with the sun gear in the annular cover, so that the sun gear drives the rotating cover to rotate, and the rotating cover can be rotated smoothly and at a uniform speed through the deceleration effect of the three sets of planetary gears and the sun gear, and its rotation speed can be greatly reduced, and the reduced rotation speed is the transmission ratio between the planetary gear and the sun gear. At this time, the rotating cover can drive the threaded column to rotate, so that the threaded column is meshed with the threaded sleeve, and under the action of the limiting sleeve, the threaded sleeve can drive the probe to move downward, so that the probe can slowly and uniformly penetrate into the glass glue, thereby detecting the depth of the glass glue, and preventing the depth from not being detected due to the shallow depth of the glass glue and the probe running too fast;

[0013] By driving the fourth servo motor, the output shaft of the fourth servo motor drives the threaded rod to rotate, thereby engaging with the threaded hole on the receiving plate in the receiving rack, so that the threaded rod drives the H-shaped rack to move in the two groups of receiving racks, and the device as a whole can reach the specified detection position, and then by driving the first rotary cylinder, the output shaft of the first rotary cylinder drives the rodless cylinder to rotate, so that the rodless cylinder reaches the top of the position to be inspected, and then when the rodless cylinder is driven, the cylinder on the rodless cylinder reaches directly above the position to be inspected, and then the cylinder is driven to make the cylinder output shaft drive the second rotary cylinder to move downward, and then the second rotary cylinder is driven to make the second rotary cylinder output shaft drive the second servo motor, the buffer deceleration assembly and the probe to rotate, at this time, the glue depth can be detected, and at the same time, the rodless cylinder can be driven to detect different positions inside the glass glue. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 A schematic diagram of the structure of the device provided by the present invention;

[0015] Figure 2 The installation structure diagram of the two horizontal frames at the bottom of the device provided by the present invention;

[0016] Figure 3 The disassembled diagram of each component on the two horizontal frames provided by the present invention;

[0017] Figure 4 A connection structure diagram of an H-shaped rack provided by the present invention;

[0018] Figure 5 A schematic diagram of the internal structure of the H-shaped rack provided by the present invention;

[0019] Figure 6 A diagram of the installation structure of the deflection detection device provided by the present invention;

[0020] Figure 7 A disassembled diagram of the deflection detection device provided by the present invention;

[0021] Figure 8 This is a diagram of the installation structure of the buffer deceleration assembly provided by the present invention;

[0022] Fig. 9 A schematic diagram of the internal structure of the sleeve provided by the present invention;

[0023] Fig.10 A schematic diagram of the structure of a deflection detection device provided by the present invention;

[0024] Fig.11 A disassembled diagram of the deflection detection device provided by the present invention;

[0025] Fig.12 This is a diagram of the installation structure of the planetary gear and the sun gear provided by the present invention.

[0026] In the figure: deflection detection device 100, buffer deceleration assembly 110, outer cover 111, receiving socket 112, inner cover 113, inner gear ring 114, receiving slot 115, annular cover 116, plug column 117, arc groove 118, planetary gear 119, sun gear 120, bottom cover with hole 121, plug block 122, receiving cover 123, sleeve 130, threaded column 131, slide groove 132, limit sleeve 133, threaded sleeve 134, probe 1 35. Base plate 140. First rotary cylinder 141. Rodless cylinder 142. Sliding frame 143. Cylinder 144. Second rotary cylinder 145. Second servo motor 146. Adjustment device 200. Horizontal frame 210. Mounting frame 211. Third servo motor 212. Mecanum wheel 213. Sheet plate 220. Mounting frame 230. Mounting plate 231. Threaded hole 232. H-shaped mounting frame 240. Threaded rod 241. Fourth servo motor 242. DETAILED DESCRIPTION

[0027] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0028] See attached Figure 1-12 The present invention provides a vertical hollow glass glue depth automatic detection device, comprising a deflection detection device 100 and an adjustment device 200, wherein the deflection detection device 100 is located at the top of the adjustment device 200 and is connected to the adjustment device 200, and the deflection detection device 100 comprises a sleeve 130 and also comprises a buffer deceleration component 110 connected to the sleeve 130;

[0029] The buffer deceleration assembly 110 includes an outer cover body 111, an inner cover body 113 is fixedly installed on the inner wall of the outer cover body 111, the outer cover body 111 and the inner cover body 113 are concentrically arranged, and receiving holes 112 are provided at the center of the outer cover body 111 and the inner cover body 113, an inner gear ring 114 is fixedly installed on the inner wall of the inner cover body 113, receiving slots 115 are provided on both sides of the outer cover body 111, an annular cover 116 is plugged into the inner wall of the inner cover body 113, the annular cover 116 is concentrically arranged with the inner cover body 113, a plug post 117 is fixedly installed at the center of the top of the annular cover 116, the plug post 117 is plugged into the inner wall of the receiving hole 112, the inner wall of the top of the annular cover 116 is rotatably connected to three sets of planetary gears 119, and the inner wall of the top of the annular cover 116 is rotatably connected to The sun gear 120 is meshed with the three sets of planetary gears 119. The side wall of the annular cover 116 is provided with three sets of arc grooves 118. The three sets of arc grooves 118 are rotatably connected with the three sets of planetary gears 119 respectively. A bottom cover 121 with a hole is provided at the bottom of the outer cover body 111. The bottom cover 121 with a hole is concentrically arranged with the outer cover body 111. Insert blocks 122 are fixedly installed on both sides of the bottom cover 121 with a hole. The two sets of insert blocks 122 are respectively plugged with the two sets of receiving slots 115. The top of the bottom cover 121 with a hole is in active contact with the bottom of the annular cover 116. The center of the bottom cover 121 with a hole is rotatably connected with a receiving cover 123. The top of the receiving cover 123 is fixedly connected with the bottom of the sun gear 120. The top of the sleeve 130 is fixedly connected with the bottom of the bottom cover 121 with a hole. The top of the sleeve 130 The inner wall of the sleeve 130 is rotatably connected with a threaded column 131, the top of the threaded column 131 located outside the sleeve 130 is fixedly connected to the inner wall of the rotating cover 123, and the inner walls on both sides of the bottom of the sleeve 130 are provided with sliding grooves 132. The inner walls of the two sets of sliding grooves 132 are slidably connected with the same limiting sleeve 133, and the inner wall of the limiting sleeve 133 is fixedly installed with a threaded sleeve 134. The threaded column 131 is meshed with the internal thread of the threaded sleeve 134, and a probe 135 is fixedly installed at the bottom of the threaded sleeve 134. Specifically, by driving the second servo motor 146, the output shaft of the second servo motor 146 drives the plug column 117 to rotate, so that the plug column 117 drives the annular cover 116 to rotate, so that the three sets of planetary gears 119 in the annular cover 116 follow the annular cover 116 to rotate. The three sets of planetary gears 119 are rotated to mesh with the inner gear ring 114 in the inner cover body 113, thereby rotating the three sets of planetary gears 119 and rotating the sun gear 120 in the annular cover 116, so that the sun gear 120 drives the rotating cover 123 to rotate. After the deceleration effect of the three sets of planetary gears 119 and the sun gear 120, the rotating cover 123 can rotate smoothly and at a uniform speed, and its rotation speed can be greatly reduced. The reduced rotation speed is the transmission ratio between the planetary gears 119 and the sun gear 120. At this time, the rotating cover 123 can drive the threaded column 131 to rotate, so that the threaded column 131 is meshed with the threaded sleeve 134. Under the action of the limiting sleeve 133, the threaded sleeve 134 can drive the probe 135 to move downward.Thus, the probe 135 can slowly and evenly penetrate into the glass glue, thereby detecting the depth of the glass glue, and preventing the depth from not being detected because the depth of the glass glue is too shallow.

[0030] Furthermore, the buffer deceleration assembly 110 also includes a base plate 140, a first rotary cylinder 141 is fixedly installed on one side of the top of the base plate 140, a rodless cylinder 142 is fixedly installed on the output end of the first rotary cylinder 141, a sliding frame 143 is slidably connected to the bottom of the rodless cylinder 142, a cylinder 144 is fixedly installed on the bottom of the sliding frame 143, a second rotary cylinder 145 is fixedly installed on the output end of the cylinder 144, a second servo motor 146 is fixedly installed on the output end of the second rotary cylinder 145, and the output shaft of the second servo motor 146 is fixedly connected to the top of the plug column 117. Specifically, through Drive the first rotating cylinder 141, and the output shaft of the first rotating cylinder 141 drives the rodless cylinder 142 to rotate, so that the rodless cylinder 142 reaches the top of the position to be inspected, and then when the rodless cylinder 142 is driven, the cylinder 144 on the rodless cylinder 142 reaches directly above the position to be inspected, and then the cylinder 144 is driven so that the output shaft of the cylinder 144 drives the second rotating cylinder 145 to move downward, and then the second rotating cylinder 145 is driven so that the output shaft of the second rotating cylinder 145 drives the second servo motor 146, the buffer deceleration assembly 110 and the probe 135 to rotate, and at this time the gluing depth can be detected.

[0031] Further, the adjustment device 200 includes a cross frame 210, which is provided with two groups. The middle of the two groups of cross frames 210 is clamped with the same frame plate 220. The bottom of the cross frame 210 is fixedly installed with a mounting frame 211 on both sides. The outer sides of the two groups of mounting frames 211 are fixedly installed with a third servo motor 212. The output shafts of the two groups of third servo motors 212 are fixedly installed with Mecanum wheels 213. The Mecanum wheels 213 can rely on the direction and speed of the respective wheels. The final synthesis of these forces generates a resultant force vector in any required direction, thereby ensuring that the platform can move freely in the direction of the final resultant force vector without changing the direction of the wheel itself. Many small rollers are obliquely distributed on its wheel rim, so the wheel can slide laterally. The generatrix of the small roller is very special. When the wheel rotates around the fixed wheel center axis, the envelope of each small roller is a cylindrical surface, so the wheel can roll forward continuously. The Mecanum wheel has a compact structure and flexible movement. It is a very successful omnidirectional wheel. It is composed of four such new wheels, which can realize the omnidirectional movement function more flexibly and conveniently. The top of the frame plate 220 is fixedly installed with receiving racks 230 on both sides. The interiors of the two sets of receiving racks 230 are hollow. The inner walls of the top of the receiving rack 230 on the left side are fixedly installed with the same receiving plate 231. The center of the receiving plate 231 is provided with a threaded hole 232. The inner walls of the two sets of receiving racks 230 are plugged with the same H-shaped rack 240. The inner walls of the two sides of the H-shaped rack 240 are hollow. The top of the left inner wall of the H-shaped rack 240 is rotatably connected with a threaded rod 241, which meshes with the threaded hole 232. The top of the left side of the H-shaped rack 240 is fixedly installed A fourth servo motor 242 is installed, and the output shaft of the fourth servo motor 242 is fixedly connected to the top of the threaded rod 241, and the bottom of the base plate 140 is fixedly connected to the top of the H-shaped rack 240. Specifically, by driving four groups of third servo motors 212, the output shafts of the four groups of third servo motors 212 drive the Mecanum wheels 213 to operate, so that the device reaches the specified position. After reaching the specified position, the fourth servo motor 242 is driven, and the output shaft of the fourth servo motor 242 drives the threaded rod 241 to rotate, thereby engaging with the threaded hole 232 on the receiving plate 231 in the receiving rack 230, so that the threaded rod 241 drives the H-shaped rack 240 to move in the two groups of receiving racks 230, so that the device as a whole can reach the specified detection position.

[0032] The use process of the present invention is as follows: the technicians drive four groups of third servo motors 212, and the output shafts of the four groups of third servo motors 212 drive the Mecanum wheel 213 to operate, so that the device reaches the specified position, and after reaching the specified position, the fourth servo motor 242 is driven, and the output shaft of the fourth servo motor 242 drives the threaded rod 241 to rotate, so as to engage with the threaded hole 232 on the receiving plate 231 in the receiving rack 230, so that the threaded rod 241 drives the H-shaped rack 240 to move in the two groups of receiving racks 230, so that the device as a whole can reach the specified detection position;

[0033] After reaching the designated position, by driving the first rotary cylinder 141, the output shaft of the first rotary cylinder 141 drives the rodless cylinder 142 to rotate, so that the rodless cylinder 142 reaches the top of the position to be inspected, and then the rodless cylinder 142 is driven, and the cylinder 144 on the rodless cylinder 142 reaches directly above the position to be inspected, and then the cylinder 144 is driven to make the output shaft of the cylinder 144 drive the second rotary cylinder 145 to move downward, and then the second rotary cylinder 145 is driven to make the output shaft of the second rotary cylinder 145 drive the second servo motor 146, the buffer deceleration component 110 and the probe 135 to rotate, and at this time the gluing depth can be detected;

[0034] When the glue depth is detected, the second servo motor 146 is driven, and the output shaft of the second servo motor 146 drives the plug post 117 to rotate, so that the plug post 117 drives the annular cover 116 to rotate, so that the three sets of planetary gears 119 in the annular cover 116 rotate with the annular cover 116, and the three sets of planetary gears 119 are meshed with the inner gear ring 114 in the inner cover body 113, so that the three sets of planetary gears 119 rotate, and at the same time rotate with the sun gear 120 in the annular cover 116, so that the sun gear 120 drives the rotating cover 123 to rotate, and the three sets of planetary gears 119 and the sun gear 120 rotate. The deceleration effect enables the rotating cover 123 to rotate smoothly and evenly, and its rotation speed can be greatly reduced. The reduced rotation speed is the transmission ratio between the planetary gear 119 and the sun gear 120. At this time, the rotating cover 123 can drive the threaded column 131 to rotate, so that the threaded column 131 is engaged with the threaded sleeve 134. Under the action of the limiting sleeve 133, the threaded sleeve 134 can drive the probe 135 to move downward, so that the probe 135 can slowly and evenly penetrate into the glass glue, thereby detecting the depth of the glass glue, preventing the probe 135 from running too fast and failing to detect the depth due to the shallow depth of the glass glue.

[0035] The above is only a preferred embodiment of the present invention. Any person skilled in the art may modify the present invention by using the above technical solution or modify it into an equivalent technical solution. Therefore, any simple modification or equivalent replacement made according to the technical solution of the present invention shall fall within the scope of protection claimed by the present invention.

Claims

1. A vertical hollow glass glue depth automatic detection device, comprising a deflection detection device (100) and an adjustment device (200), wherein the deflection detection device (100) is located on the top of the adjustment device (200) and is connected to the adjustment device (200), characterized in that: The deflection detection device (100) comprises a sleeve (130), and also comprises a buffer deceleration component (110) connected to the sleeve (130); The buffer deceleration assembly (110) comprises an outer cover body (111), an inner cover body (113) is fixedly mounted on the inner side wall of the outer cover body (111), the outer cover body (111) and the inner cover body (113) are arranged concentrically, a receiving hole (112) is provided at the center of the outer cover body (111) and the inner cover body (113), an inner gear ring (114) is fixedly mounted on the inner side wall of the inner cover body (113), and the outer cover body (111) and the inner cover body (113) are arranged concentrically with each other. A receiving slot (115) is provided on each side of the inner cover body (113), an annular cover (116) is plugged into the inner wall of the inner cover body (113), the annular cover (116) and the inner cover body (113) are arranged concentrically, an insertion column (117) is fixedly installed at the center of the top circle of the annular cover (116), the insertion column (117) is plugged into the inner wall of the receiving socket (112), and three sets of planetary gears (119) are rotatably connected to the inner wall of the top of the annular cover (116). A sun gear (120) is rotatably connected at the center of the inner wall of the top of the annular cover (116), and the sun gear (120) is meshed with the three sets of planetary gears (119). The side wall of the annular cover (116) is provided with three sets of arc grooves (118), and the three sets of arc grooves (118) are rotatably connected to the three sets of planetary gears (119) respectively. A bottom cover (121) with a hole is provided at the bottom of the outer cover body (111), and the bottom cover (121) with a hole is connected to the outer cover body ( 111) are concentrically arranged, plug blocks (122) are fixedly installed on both sides of the bottom cover with holes (121), two groups of the plug blocks (122) are respectively plugged into two groups of receiving slots (115), the top of the bottom cover with holes (121) is in movable contact with the bottom of the annular cover (116), the center of the bottom cover with holes (121) is rotatably connected to a receiving cover (123), and the top of the receiving cover (123) is fixedly connected to the bottom of the sun gear (120); The top of the sleeve (130) is fixedly connected to the bottom of the bottom cover (121) with a hole, the inner wall of the top of the sleeve (130) is rotatably connected with a threaded column (131), the top of the threaded column (131) located outside the sleeve (130) is fixedly connected to the inner wall of the rotating cover (123), the inner walls on both sides of the bottom of the sleeve (130) are provided with sliding grooves (132), the inner walls of the two groups of sliding grooves (132) are slidably connected with the same limiting sleeve (133), the inner wall of the limiting sleeve (133) is fixedly installed with a threaded sleeve (134), the threaded column (131) is meshed with the internal thread of the threaded sleeve (134), and the bottom of the threaded sleeve (134) is fixedly installed with a probe (135); The buffer deceleration assembly (110) further comprises a base plate (140), a first rotary cylinder (141) being fixedly mounted on one side of the top of the base plate (140), a rodless cylinder (142) being fixedly mounted on the output end of the first rotary cylinder (141), a sliding frame (143) being slidably connected to the bottom of the rodless cylinder (142), a cylinder (144) being fixedly mounted on the bottom of the sliding frame (143), a second rotary cylinder (145) being fixedly mounted on the output end of the cylinder (144), a second servo motor (146) being fixedly mounted on the output end of the second rotary cylinder (145), and an output shaft of the second servo motor (146) being fixedly connected to the top of the plug post (117); The adjustment device (200) comprises a cross frame (210), wherein the cross frame (210) is provided with two groups, wherein the middle of the two groups of cross frames (210) is clamped with a same frame plate (220), both sides of the bottom of the cross frame (210) are fixedly mounted with receiving frames (211), the outer sides of the two groups of receiving frames (211) are fixedly mounted with third servo motors (212), and the output shafts of the two groups of third servo motors (212) are fixedly mounted with Mecanum wheels (213), and both sides of the top of the frame plate (220) are fixedly mounted with receiving frames (230), and the insides of the two groups of receiving frames (230) are hollow, and the same receiving frames (230) are fixedly mounted on the inner walls of the top of the left receiving frames (230). A receiving plate (231), the receiving plate (231) having a threaded hole (232) at its center, the inner walls of the two groups of receiving frames (230) being plugged with the same H-shaped frame (240), the inner walls on both sides of the H-shaped frame (240) being hollow, a threaded rod (241) being rotatably connected to the top of the left inner wall of the H-shaped frame (240), the threaded rod (241) being meshed with the threaded hole (232), a fourth servo motor (242) being fixedly mounted on the top of the left inner wall of the H-shaped frame (240), the output shaft of the fourth servo motor (242) being fixedly connected to the top of the threaded rod (241), and the bottom of the base plate (140) being fixedly connected to the top of the H-shaped frame (240).

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