An apparatus for automatically installing an antenna

Abstract

The application discloses a kind of equipment of automatic installation antenna, including equipment rack, the equipment rack is equipped with differential screening mechanism, guide mechanism, six-axis robot and flexible material taking mechanism, the six-axis robot is installed in one side of equipment rack with differential screening mechanism, the guide mechanism is installed in the other side of equipment rack, the flexible material taking mechanism is opposite with differential screening mechanism, simultaneously the output end of six-axis robot is connected with flexible material taking mechanism.

Description

Technical Field

[0001] This invention relates to the field of antenna installation equipment technology, specifically to an automatic antenna installation device. Background Technology

[0002] Currently, antenna installation in the mobile phone industry is mostly done manually and cannot be automated. Furthermore, existing antenna installation equipment lacks antenna material screening and alignment functions. Since antenna materials are relatively soft and have two sides, traditional equipment has difficulty screening and aligning them, resulting in extremely low antenna installation efficiency and affecting production efficiency. Summary of the Invention

[0003] To overcome the shortcomings of existing technical solutions, the present invention provides a device for automatically installing antennas.

[0004] The technical solution adopted by the present invention to solve its technical problem is an automatic antenna installation device, including a device frame. The device frame is equipped with a differential speed screening mechanism, a guiding mechanism, a six-axis robot, and a flexible material handling mechanism. The six-axis robot and the differential speed screening mechanism are installed on one side of the device frame, the guiding mechanism is installed on the other side of the device frame, the flexible material handling mechanism is connected to the differential speed screening mechanism, and the output end of the six-axis robot is connected to the flexible material handling mechanism.

[0005] The differential screening mechanism includes a screening mounting base, a mechanism frame mounted on the screening mounting base, and 7 sets of screening belts and 2 sets of pre-screening devices mounted on the mechanism frame. One of the pre-screening devices is equipped with a feeding sensor on the front side, and the other pre-screening device is equipped with a steering sensor to prevent the antenna from falling off on the rear side. Each set of screening belts is equipped with an antenna overshoot plate at the end.

[0006] The guiding mechanism includes a rotating device, a guiding fixed end, a guiding moving end, and a power device connected in sequence to the guiding moving end. The rotating device is located at the front end, the guiding fixed end is connected to the rotating device, and the power device is located on the side away from the rotating device, with the guiding moving end connected to the guiding fixed end.

[0007] The flexible material handling mechanism includes a fixed end mechanism support plate, a material handling mounting base, a robot arm adapter plate, a linear guide rail, a guide rail limit block, an alignment adjustment device, a fixed end gripping cylinder, a position sensor, a line-aligning device, a line-aligning gripper cylinder, a moving end gripping cylinder, a Z-side position compensation guide rail, an induction magnet, a stepper motor, a rack and pinion, and an air passage manifold.

[0008] The robotic arm adapter plate is mounted on the upper part of the fixed-end mechanism support plate. The linear guide rail and rack pass through the fixed-end mechanism support plate. The six-axis robot is connected to the robotic arm adapter plate. The fixed-end gripping cylinder is fixed on the material-picking mounting base. The fixed-end mechanism support plate moves axially relative to the material-picking mounting base under the drive of the six-axis robot. The air manifold is located on the fixed-end mechanism support plate. At the same time, the Z-side position compensation guide rail is located at the bottom of the linear guide rail. The moving-end gripping cylinder is slidably connected to the Z-side position compensation guide rail. The line-building device is connected to the fixed-end mechanism support plate, and the line-building gripper cylinder is located on the line-building device. The air manifold is located on the fixed-end mechanism support plate and provides air source for each cylinder.

[0009] Furthermore, the rotating device in the guiding mechanism includes a hollow rotating platform fixed base, a servo motor assembly located on the front side of the hollow rotating platform fixed base, a hollow rotating platform located on the other side of the hollow rotating platform fixed base, and an air passage fixed plate and a protective sheet metal respectively fixedly connected to the hollow rotating platform. A first sensor is provided at the lower front side of the air passage fixed plate.

[0010] The guiding and fixing end of the guiding mechanism includes a wire end support device, a hollow platform adapter plate, a moving avoidance device, a floating joint, an avoidance rail, a support guide shaft, a support head, an elastic adjustment device, an elastic auxiliary adjustment device, an elastic adjustment rail, an antenna pre-clamping device, and a parallel gripper cylinder.

[0011] The thread end support device is located below the movable avoidance device, which is located between the hollow platform transition and fixing plates, and the output end of the movable avoidance device is connected to the floating joint.

[0012] The elastic adjustment device is mounted on the hollow platform adapter plate. The elastic auxiliary adjustment device and the antenna pre-clamping device are located at the front end of the hollow platform adapter plate. The elastic auxiliary adjustment device is connected to the antenna pre-clamping device. At the same time, a parallel gripper cylinder is provided between the antenna pre-clamping device and the hollow platform adapter plate.

[0013] The elastic adjustment device is provided in a set, and the set of elastic adjustment devices is symmetrically distributed. The elastic adjustment device includes a pen-shaped cylinder, a slider connected to the output end of the pen-shaped cylinder, and a first antenna clamp fixed on the slider.

[0014] The output end of the bottom support guide shaft is connected to the bottom support head, and the bottom support guide shaft and the bottom support head are located below the elastic adjustment device.

[0015] The guiding moving end in the guiding mechanism includes a guiding mounting base, a power connection plate, a tank chain connection plate, a driven pre-clamping device, a driven elastic force adjustment device, an elastic force auxiliary adjustment device, and an ultra-short line avoidance device.

[0016] Both the power connection plate and the tank chain connection plate are connected to the guide mounting base, and the power connection plate is located on the other side of the tank chain connection plate mounting position.

[0017] The driven pre-clamping device includes a parallel gripper cylinder. The driven pre-clamping device and the driven elastic force adjustment device are both mounted on the clamping mounting base. A set of driven elastic force adjustment devices is provided, and the set of driven elastic force adjustment devices is symmetrically distributed. The driven pre-clamping device is located between the set of driven elastic force adjustment devices.

[0018] The driven elastic force adjustment device includes a needle-type cylinder, an elastic force adjustment rail, an elastic force adjustment slider, and a second antenna clamp. The elastic force adjustment slider is slidably engaged with the elastic force adjustment rail. The output end of the needle-type cylinder is connected to the elastic force adjustment slider. The second antenna clamp is fixedly mounted on the elastic force adjustment slider.

[0019] The ultra-short line avoidance device is located above the driven pre-clamping device. The ultra-short line avoidance device includes a slide cylinder, a bottom support head, an ultra-short line avoidance plate, and an avoidance spring. The bottom support head is located at the front end of the ultra-short line avoidance plate. The output end of the slide cylinder is connected to the other end of the ultra-short line avoidance plate. Meanwhile, an avoidance spring is provided on the side of the ultra-short line avoidance plate.

[0020] The power unit in the guiding mechanism includes a servo motor assembly, a mobile end positioning rail, a protective sheet metal, a synchronous belt, a synchronous belt clamp, and multiple second sensors. The servo motor assembly is driven and connected to the synchronous belt. The synchronous belt clamp is fixed on the synchronous belt. The synchronous belt is located inside the protective sheet metal. The power unit also includes a tension adjustment device for adjusting the tension of the synchronous belt.

[0021] Compared with the prior art, the beneficial effects of the present invention are:

[0022] By integrating a differential screening mechanism, a flexible material handling mechanism, and a guiding mechanism with a special elastic structure, the antenna can be transformed from multiple bagged, irregularly shaped antennas into a single fixed antenna, providing material support for subsequent installation. The special elastic mechanism can automatically adjust the clamping force of the fixed end and the moving end, allowing a single power source to drive both ends for guiding. At the same time, the differential speed principle is used to separate the antennas that have accumulated together during feeding into single antennas for discharge, ensuring the successful capture of the antennas in the later stage. Furthermore, the mechanism uses a reciprocating differential speed conveyor, which can achieve maximum space saving. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of the present invention;

[0024] Figure 2 This is a schematic diagram of the differential speed screening mechanism of the present invention;

[0025] Figure 3 This is a schematic diagram of the structure of the screening belt conveyor of the present invention;

[0026] Figure 4 This is a schematic diagram of the pre-screening device of the present invention;

[0027] Figure 5 This is a schematic diagram of the guiding mechanism of the present invention;

[0028] Figure 6 This is a schematic diagram of the rotating device of the present invention;

[0029] Figure 7 This is a schematic diagram of the guiding and fixing end of the present invention;

[0030] Figure 8 This is a schematic diagram of the structure of the mobile terminal of the present invention;

[0031] Figure 9 This is a schematic diagram of the power device of the present invention;

[0032] Figure 10 This is a schematic diagram of the flexible material handling mechanism of the present invention.

[0033] Numbers in the diagram:

[0034] Equipment frame 1, Differential screening mechanism 2, Mechanism frame 21, Belt 211, Alternating shaft support sheet metal 222, Protective sheet metal 223, Screening belt 22, Pre-screening device 23, Feeding sensor 24, Steering sensor 25, Wire protection tube 26, Antenna overshoot plate 27, Six-axis robot 3, Flexible material handling mechanism 4, Fixed end mechanism support plate 41, Robotic arm adapter plate 42, Rack 43, Linear guide rail 44, Fixed end gripping cylinder 45, Line assembly device 46, Line assembly gripper cylinder 47, Moving end gripping cylinder 48, Z-side position compensation guide rail 49, Induction magnet 400, Guiding mechanism 5, Rotating device 51, Servo motor 511, Hollow rotating platform fixed base 512, Hollow rotating platform 513, Protective sheet metal 514, Air circuit Fixed plate 515, first sensor 516, guiding fixed end 52, hollow platform adapter fixed plate 521, moving avoidance device 522, avoidance rail 523, elastic adjustment device 524, first antenna clamp 525, pen-shaped cylinder 526, elastic auxiliary adjustment device 527, antenna pre-clamping device 528, parallel gripper cylinder 529, guiding moving end 53, power connection plate 531, tank chain connection plate 532, driven pre-clamping device 533, drag head 534, second antenna clamp 535, elastic adjustment rail 536, needle-type cylinder 537, ultra-short line avoidance plate 538, avoidance spring 539, slide cylinder 5310, power unit 54, moving end positioning rail 541, protective sheet metal 542, second sensor 543. Detailed Implementation

[0035] 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 scope of protection of the present invention.

[0036] like Figure 1-10 As shown, the present invention provides an automatic antenna installation device, including a device frame 1. The device frame 1 is provided with a differential speed screening mechanism 2, a guiding mechanism 5, a six-axis robot 3, and a flexible material handling mechanism 4. The six-axis robot 3 and the differential speed screening mechanism 2 are installed on one side of the device frame 1, the guiding mechanism 5 is installed on the other side of the device frame 1, the flexible material handling mechanism 4 is connected to the differential speed screening mechanism 2, and the output end of the six-axis robot 3 is connected to the flexible material handling mechanism 4.

[0037] The differential screening mechanism 2 includes a screening mounting base, a mechanism frame 21 mounted on the screening mounting base, and seven sets of screening belts 22 and two sets of pre-screening devices 23 mounted on the mechanism frame 21. One of the pre-screening devices 23 has a feeding sensor 24 on its front side and a steering sensor 25 to prevent the antenna from falling off on its rear side. Each set of screening belts 22 has an antenna overshoot plate 27 at its tail end.

[0038] The guiding mechanism 5 includes a rotating device 51, a guiding fixed end 52, a guiding moving end 53, and a power device 54 connected in sequence to the guiding moving end 53. The rotating device 51 is located at the front end, the guiding fixed end 52 is connected to the rotating device 51, and the power device 54 is located on the side away from the rotating device 51, and the guiding moving end 53 is connected to the guiding fixed end 52.

[0039] The flexible material handling mechanism 4 includes a fixed end mechanism support plate 41, a material handling mounting base, a robotic arm adapter plate 42, a linear guide rail 44, a guide rail limit block, an alignment adjustment device, a fixed end gripping cylinder 45, a position sensor, a line-aligning device 46, a line-aligning gripper cylinder 47, a moving end gripping cylinder 48, a Z-side position compensation guide rail 49, an induction magnet 400, a stepper motor, a rack 43, and an air passage manifold.

[0040] The rotating device 51 in the guiding mechanism 5 includes a hollow rotating platform fixed base 512, a servo motor assembly located on the front side of the hollow rotating platform fixed base 512, a hollow rotating platform 513 located on the other side of the hollow rotating platform fixed base 512, and an air passage fixed plate 515 and a protective sheet metal 514 respectively fixedly connected to the hollow rotating platform 513. A first sensor 516 is provided at the lower front side of the air passage fixed plate 515.

[0041] The guiding and fixing end 52 of the guiding mechanism 5 includes a wire end support device, a hollow platform adapter plate 521, a moving avoidance device 522, a floating joint, an avoidance rail 523, a support guide shaft, a support head, an elastic adjustment device 524, an elastic auxiliary adjustment device 527, an elastic adjustment rail, an antenna pre-clamping device 528, and a parallel gripper cylinder 529.

[0042] The thread end support device is located below the movable avoidance device 522, which is located between the hollow platform transition fixing plates 521, and the output end of the movable avoidance device 522 is connected to the floating joint.

[0043] The elastic adjustment device 524 is mounted on the hollow platform adapter plate 521. The elastic auxiliary adjustment device 527 and the antenna pre-clamping device 528 are located at the front end of the hollow platform adapter plate 521, and the elastic auxiliary adjustment device 527 is connected to the antenna pre-clamping device 528. At the same time, a parallel gripper cylinder 529 is provided between the antenna pre-clamping device 528 and the hollow platform adapter plate 521.

[0044] A set of elastic adjustment devices 524 is provided, and the set of elastic adjustment devices 524 are symmetrically distributed. The elastic adjustment device 524 includes a pen-shaped cylinder 526, a slider connected to the output end of the pen-shaped cylinder 526, and a first antenna clamp 525 fixed on the slider.

[0045] The output end of the bottom support guide shaft is connected to the bottom support head, and the bottom support guide shaft and the bottom support head are located below the elastic adjustment device 524.

[0046] The guiding moving end 53 in the guiding mechanism 5 includes a guiding mounting base, a power connecting plate 531, a tank chain connecting plate 532, a driven pre-clamping device 533, a driven elastic force adjustment device, an elastic force auxiliary adjustment device, and an ultra-short line avoidance device.

[0047] Both the power connection plate 531 and the tank chain connection plate 532 are connected to the guide mounting base, and the power connection plate 531 is located on the other side of the installation position of the tank chain connection plate 532.

[0048] The driven pre-clamping device 533 includes a parallel gripper cylinder. The driven pre-clamping device 533 and the driven elastic force adjustment device are both mounted on the clamping mounting base. A set of driven elastic force adjustment devices is provided, and the set of driven elastic force adjustment devices is symmetrically distributed. The driven pre-clamping device 533 is located between the set of driven elastic force adjustment devices.

[0049] The driven elastic force adjustment device includes a needle cylinder 537, an elastic force adjustment rail, an elastic force adjustment slider, and a second antenna clamp 535. The elastic force adjustment slider is slidably engaged with the elastic force adjustment rail. The output end of the needle cylinder 537 is connected to the elastic force adjustment slider. The second antenna clamp 535 is fixedly mounted on the elastic force adjustment slider.

[0050] The ultra-short line avoidance device is located above the driven pre-clamping device 533. The ultra-short line avoidance device includes a slide cylinder, a bottom support head, an ultra-short line avoidance plate 538, and an avoidance spring 539. The bottom support head 534 is located at the front end of the ultra-short line avoidance plate 538. The output end of the slide cylinder 5310 is connected to the other end of the ultra-short line avoidance plate 538. Meanwhile, the side of the ultra-short line avoidance plate 538 is provided with an avoidance spring 539.

[0051] The power unit 54 in the guiding mechanism 5 includes a servo motor assembly, a moving end positioning rail 541, a protective sheet metal 542, a synchronous belt, a synchronous belt clamp, and multiple second sensors 543. The servo motor assembly is driven and connected to the synchronous belt. The synchronous belt clamp is fixed on the synchronous belt. The synchronous belt is located inside the protective sheet metal. The power unit also includes a tension adjustment device for adjusting the tension of the synchronous belt.

[0052] The differential screening mechanism 2 includes a main sheet metal body, a protective sheet metal body, a clearance shaft support sheet metal body, a stepper motor, a drive shaft, a transmission belt, a drive shaft support plate, a driven shaft, a driven shaft support plate, a belt, and a tension adjustment device for adjusting the belt tension.

[0053] The drive shaft is located inside the drive shaft support plate, the driven shaft is located inside the driven shaft support plate, the output shaft of the stepper motor is connected to the drive shaft, the transmission belt is sleeved on the drive shaft and the driven shaft, and the belt is also sleeved on the drive shaft and the driven shaft;

[0054] The pre-screening device 23 in the differential screening mechanism 2 includes a debugging sheet metal, a main protective plate, a main support plate, a drive shaft, a driven shaft, an auxiliary wheel, an auxiliary shaft, a protective sheet metal support plate, a support wheel, a round belt, and a transition block;

[0055] The circular belt is sleeved on the drive shaft and the driven shaft. Both ends of the driven shaft, drive shaft and auxiliary shaft are located on the main support plate. At the same time, the circumferential surface of the auxiliary shaft is in contact with the surface of the circular belt. Both ends of the drive shaft and the driven shaft pass through the main support plate and are connected to the auxiliary wheel. At the same time, both ends of one of the driven shafts pass through the main support plate and are connected to the support wheel. The adapter block is located on the side of the main support plate and is fixedly connected to the mechanism frame.

[0056] The robotic arm adapter plate 42 is mounted on the upper end of the fixed end mechanism support plate 41. The linear guide rail 44 and the rack 43 pass through the fixed end mechanism support plate 41. The six-axis robot 3 is connected to the robotic arm adapter plate 42. The fixed end gripping cylinder 45 is fixedly mounted on the material picking mounting base. The fixed end mechanism support plate 41 moves axially relative to the material picking mounting base under the drive of the six-axis robot 3. The air passage manifold is located on the fixed end mechanism support plate 41. At the same time, the Z-side position compensation guide rail 49 is located at the bottom of the linear guide rail 44. The moving end gripping cylinder 48 is slidably connected to the Z-side position compensation guide rail 49. The line-forming device 46 is connected to the fixed end mechanism support plate 41, and the line-forming gripper cylinder 47 is located on the line-forming device 46.

[0057] By integrating a differential screening mechanism, a flexible material handling mechanism, and a guiding mechanism with a special elastic structure, the antenna can be transformed from multiple bagged, irregularly shaped antennas into a single fixed antenna, providing material support for subsequent installation. The special elastic mechanism can automatically adjust the clamping force of the fixed end and the moving end, allowing a single power source to drive both ends for guiding. At the same time, the differential speed principle is used to separate the antennas that have accumulated together during feeding into single antennas for discharge, ensuring the successful capture of the antennas in the later stage. Furthermore, the mechanism uses a reciprocating differential speed conveyor, which can achieve maximum space saving.

[0058] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A device for automatically installing antennas, characterized in that, The device includes a frame on which a differential screening mechanism, a guiding mechanism, a six-axis robot, and a flexible material handling mechanism are mounted. The six-axis robot and the differential screening mechanism are mounted on one side of the frame, the guiding mechanism is mounted on the other side of the frame, the flexible material handling mechanism is connected to the differential screening mechanism, and the output end of the six-axis robot is connected to the flexible material handling mechanism. The differential screening mechanism includes a screening mounting base, a mechanism frame mounted on the screening mounting base, and 7 sets of screening belts and 2 sets of pre-screening devices mounted on the mechanism frame. One of the pre-screening devices is equipped with a feeding sensor on the front side, and the other pre-screening device is equipped with a steering sensor to prevent the antenna from falling off on the rear side. Each set of screening belts is equipped with an antenna overshoot plate at the end. The guiding mechanism includes a rotating device, a guiding fixed end, a guiding moving end, and a power device connected in sequence to the guiding moving end. The rotating device is located at the front end, the guiding fixed end is connected to the rotating device, and the power device is located on the side away from the rotating device, with the guiding moving end connected to the guiding fixed end. The flexible material handling mechanism includes a fixed end mechanism support plate, a material handling mounting base, a robot arm adapter plate, a linear guide rail, a guide rail limit block, an alignment adjustment device, a fixed end gripping cylinder, a position sensor, a line-aligning device, a line-aligning gripper cylinder, a moving end gripping cylinder, a Z-side position compensation guide rail, an induction magnet, a stepper motor, a rack and pinion, and an air passage manifold. The robotic arm adapter plate is mounted on the upper part of the fixed-end mechanism support plate. The linear guide rail and rack pass through the fixed-end mechanism support plate. The six-axis robot is connected to the robotic arm adapter plate. The fixed-end gripping cylinder is fixed on the material-picking mounting base. The fixed-end mechanism support plate moves axially relative to the material-picking mounting base under the drive of the six-axis robot. The air manifold is located on the fixed-end mechanism support plate. At the same time, the Z-side position compensation guide rail is located at the bottom of the linear guide rail. The moving-end gripping cylinder is slidably connected to the Z-side position compensation guide rail. The line-building device is connected to the fixed-end mechanism support plate, and the line-building gripper cylinder is located on the line-building device. The air manifold is located on the fixed-end mechanism support plate and provides air source for each cylinder.

2. The device for automatically installing antennas according to claim 1, characterized in that, The rotating device in the guiding mechanism includes a hollow rotating platform fixed base, a servo motor assembly located on the front side of the hollow rotating platform fixed base, a hollow rotating platform located on the other side of the hollow rotating platform fixed base, and an air passage fixed plate and a protective sheet metal fixedly connected to the hollow rotating platform respectively. A first sensor is provided at the lower front side of the air passage fixed plate. The guiding and fixing end of the guiding mechanism includes a wire end support device, a hollow platform adapter plate, a moving avoidance device, a floating joint, an avoidance rail, a support guide shaft, a support head, an elastic adjustment device, an elastic auxiliary adjustment device, an elastic adjustment rail, an antenna pre-clamping device, and a parallel gripper cylinder. The thread end support device is located below the movable avoidance device, which is located between the hollow platform transition and fixing plates, and the output end of the movable avoidance device is connected to the floating joint. The elastic adjustment device is mounted on the hollow platform adapter plate. The elastic auxiliary adjustment device and the antenna pre-clamping device are located at the front end of the hollow platform adapter plate. The elastic auxiliary adjustment device is connected to the antenna pre-clamping device. At the same time, a parallel gripper cylinder is provided between the antenna pre-clamping device and the hollow platform adapter plate. The elastic adjustment device is provided in a set, and the set of elastic adjustment devices is symmetrically distributed. The elastic adjustment device includes a pen-shaped cylinder, a slider connected to the output end of the pen-shaped cylinder, and a first antenna clamp fixed on the slider. The output end of the bottom support guide shaft is connected to the bottom support head, and the bottom support guide shaft and the bottom support head are located below the elastic adjustment device. The guiding moving end in the guiding mechanism includes a guiding mounting base, a power connection plate, a tank chain connection plate, a driven pre-clamping device, a driven elastic force adjustment device, an elastic force auxiliary adjustment device, and an ultra-short line avoidance device. Both the power connection plate and the tank chain connection plate are connected to the guide mounting base, and the power connection plate is located on the other side of the tank chain connection plate mounting position. The driven pre-clamping device includes a parallel gripper cylinder. The driven pre-clamping device and the driven elastic force adjustment device are both mounted on the clamping mounting base. A set of driven elastic force adjustment devices is provided, and the set of driven elastic force adjustment devices is symmetrically distributed. The driven pre-clamping device is located between the set of driven elastic force adjustment devices. The driven elastic force adjustment device includes a needle-type cylinder, an elastic force adjustment rail, an elastic force adjustment slider, and a second antenna clamp. The elastic force adjustment slider is slidably engaged with the elastic force adjustment rail. The output end of the needle-type cylinder is connected to the elastic force adjustment slider. The second antenna clamp is fixedly mounted on the elastic force adjustment slider. The ultra-short line avoidance device is located above the driven pre-clamping device. The ultra-short line avoidance device includes a slide cylinder, a bottom support head, an ultra-short line avoidance plate, and an avoidance spring. The bottom support head is located at the front end of the ultra-short line avoidance plate. The output end of the slide cylinder is connected to the other end of the ultra-short line avoidance plate. Meanwhile, an avoidance spring is provided on the side of the ultra-short line avoidance plate. The power unit in the guiding mechanism includes a servo motor assembly, a mobile end positioning rail, a protective sheet metal, a synchronous belt, a synchronous belt clamp, and multiple second sensors. The servo motor assembly is driven and connected to the synchronous belt. The synchronous belt clamp is fixed on the synchronous belt. The synchronous belt is located inside the protective sheet metal. The power unit also includes a tension adjustment device for adjusting the tension of the synchronous belt.

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