An integral feeding device for multiple sheet parts

Abstract

This invention discloses an integral feeding device for multiple sheet parts, comprising: a first frame; a first feeding mechanism disposed on one side of the first frame for feeding parts; a transfer mechanism disposed beside the first feeding mechanism for transferring the parts; a flipping mechanism disposed between the transfer mechanism and the first feeding mechanism for flipping the parts; a first transfer robot arm spanning between the first feeding mechanism, the transfer mechanism, and the flipping mechanism for transporting the parts; a first loading robot arm disposed at the end of the transfer mechanism for gripping and transferring the parts; a first CCD camera disposed above the junction of the first feeding mechanism and the first transfer robot arm for detecting the parts; and an oiling mechanism disposed above the transfer mechanism for applying oil to the parts. The first feeding mechanism is provided with a tray for placing multiple parts.

Description

Technical fields:

[0001] This invention relates to the field of automated production, and specifically to an integrated feeding device for multi-sheet parts. Background technology:

[0002] Traditional sheet feeding equipment typically uses individual blades to feed materials one by one, which is inefficient. Different feeding equipment or feeding modules are required for different blade shapes. In short, the operation is cumbersome, inefficient, and increases the distance of the production line, requiring more space and increasing production costs.

[0003] In view of the above, the inventors propose the following technical solution. Summary of the Invention:

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide an integrated feeding device for multi-sheet parts.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: a multi-sheet part integral feeding device, comprising: a first frame; a first feeding mechanism disposed on one side of the first frame for feeding parts; a transfer mechanism disposed beside the first feeding mechanism for transferring the parts; a flipping mechanism disposed between the transfer mechanism and the first feeding mechanism for flipping the parts; a first transfer robot arm disposed across the first feeding mechanism, the transfer mechanism, and the flipping mechanism for transporting the parts; and a gripper disposed at the end of the transfer mechanism for grasping and rotating the parts. The system includes a first loading robot for transferring materials, a first CCD camera positioned above the junction of the first loading mechanism and the first transfer robot for detecting the parts, and an oiling mechanism positioned above the transfer mechanism for applying oil to the parts. The first loading mechanism includes a first transport module positioned perpendicular to the movement direction of the first transfer robot, a full-pan accumulating module positioned at one end of the first transport module for stacking full-loaded pans, and an empty-pan accumulating module positioned on the other side of the first transport module for stacking empty-loaded pans. The full-loaded pan can hold multiple parts of different shapes.

[0006] Furthermore, in the above technical solution, the flipping mechanism includes a first contouring carrier for carrying the part, a first rotating seat and a second rotating seat disposed on both sides of the first contouring carrier and cooperating to clamp at least one of the parts, a first lifting cylinder for driving the first contouring carrier to lift and detach from the part, a first drive module disposed beside the first contouring carrier and for pushing the first rotating seat and the second rotating seat to rotate synchronously, and a second drive module for driving the first rotating seat and the second rotating seat to cooperate in clamping and releasing the part.

[0007] Furthermore, in the above technical solution, the first contouring carrier is provided with a plurality of contouring positioning grooves for positioning parts of different shapes, and the first rotating seat and the second rotating seat are provided with a plurality of grooves in parallel and symmetrically distributed.

[0008] Furthermore, in the above technical solution, one end of the first rotary seat and the second rotary seat are symmetrically provided with a first clamping groove and a second clamping groove for positioning the part, and the other end of the first rotary seat and the second rotary seat are provided with a first eccentric cam and a second eccentric cam that dock with the first drive module and are used to drive it to swing.

[0009] Furthermore, in the above technical solution, the first drive module includes a first push plate disposed at the other end of the first rotary seat and docked with the first eccentric cam, a second push plate disposed at the other end of the second rotary seat and docked with the second eccentric cam, a first connecting plate slidably connected to one end of the first push plate and one end of the second push plate, a first slide rail disposed parallel to the sides of the first push plate and the second push plate and used to slide support the first connecting plate, and a second cylinder used to push the first connecting plate along one end of the first slide rail.

[0010] Furthermore, in the above technical solution, the second drive module includes a second slide rail and a third slide rail arranged parallel to both ends of the first contouring carrier and perpendicular to the first slide rail; a first movable seat and a second movable seat slidably disposed on the second slide rail and the third slide rail and respectively used to support the first rotating seat and the second rotating seat; a bidirectional lead screw connecting one end of the first movable seat and the second movable seat and used to drive the first movable seat and the second movable seat to move closer to each other and further apart; and a first motor used to drive the bidirectional lead screw to move.

[0011] Furthermore, in the above technical solution, the first transfer robot includes a first support frame and a second support frame that are parallel to each other across the first feeding mechanism, the transfer mechanism, and the flipping mechanism; a fourth slide rail disposed on the first support frame; a third drive module disposed on the second support frame; a first movable frame mounted on the fourth slide rail and the third drive module and capable of moving above the first feeding mechanism, the transfer mechanism, and the flipping mechanism; multiple sets of first suction nozzle modules disposed in parallel on one side of the first movable frame for picking up the parts; multiple sets of first gripper modules disposed in parallel on the other side of the first movable frame for clamping the parts; and a fourth drive device and a fifth drive device disposed on the first movable frame for driving the first suction nozzle module and the first gripper module to move up and down respectively.

[0012] Furthermore, in the above technical solution, the first gripper module includes a limiting mounting base that is mounted on the other side of the first moving frame in a lifting and moving manner, a first gripper arm and a second gripper arm that are slidably disposed at the lower end of the limiting mounting base and cooperate to clamp the part, a first sliding push block disposed on the limiting mounting base and used to push the first gripper arm and the second gripper arm to clamp and release the part, and a third cylinder used to drive the first sliding push block to lift and move. The first sliding push block is provided with a first limiting push groove and a second limiting push groove that are distributed in a figure-eight shape and used to dock and lock with the first gripper arm and the second gripper arm. The first gripper arm and the second gripper arm are respectively provided with a first locking block and a second locking block that are locked into the first limiting push groove and the second limiting push groove.

[0013] Furthermore, in the above technical solution, the transfer mechanism includes a sixth linear drive module disposed at one end of the first transfer manipulator, a transfer base disposed on the sixth linear drive module and used to carry the part, a plurality of first contour support seats disposed in parallel on the transfer base and used to position the part, a spring-loaded clamp disposed on one side of the first contour support seat and used to press and clamp the part, a sliding clamp plate slidably mounted on the transfer base and used to push the spring-loaded clamp plate away from the part, and a first spring-loaded clamp release cylinder and a second spring-loaded clamp release cylinder disposed at both ends of the sixth linear drive module and used to push the sliding clamp plate to move.

[0014] Furthermore, in the above technical solution, the first loading manipulator includes a first four-axis manipulator and a plurality of cylinder clamps disposed on the first four-axis manipulator for gripping the parts. The first four-axis manipulator can drive the cylinder clamps to rotate and switch positions. The oiling mechanism includes a third support frame spanning the transfer mechanism, a first oiling valve and a second oiling valve disposed above the transfer mechanism for oiling both ends of the parts, a seventh drive module disposed on the third support frame for driving the first oiling valve and the second oiling valve to move closer and further apart, and an eighth drive module and a ninth drive module disposed on the seventh drive module for driving the first oiling valve and the second oiling valve to move up and down respectively.

[0015] After adopting the above technical solution, the present invention has the following beneficial effects compared with the prior art: In the present invention, a first feeding mechanism is used to transfer a tray containing multiple parts to a position below a first camera. The first camera performs visual inspection on the parts on the tray. Then, a first transfer robot transfers the parts that have passed the inspection to a flipping mechanism. After the flipping mechanism rotates the parts to a suitable angle, the first transfer robot moves the rotated parts to a transfer mechanism. The transfer mechanism moves the parts to an oiling mechanism for oiling treatment. Finally, the parts are moved to a first loading robot, which picks up the parts and transfers them for assembly. This achieves synchronous automatic feeding of multiple parts. The overall structure of the equipment is compact, occupies little space, and can feed multiple parts simultaneously with high efficiency. Furthermore, the use of a first camera for alignment detection reduces the error rate and minimizes rework, significantly reducing various costs for enterprises. Attached image description:

[0016] Figure 1 This is a perspective view of the present invention;

[0017] Figure 2 This is a perspective view of the first feeding mechanism in this invention;

[0018] Figure 3 This is a perspective view of the flipping mechanism in this invention;

[0019] Figure 4 This is the three-dimensional form of the first transfer robot in this invention. Figure 1 ;

[0020] Figure 5 This is the three-dimensional form of the first transfer robot in this invention. Figure 2 ;

[0021] Figure 6 This is a perspective view of the transfer mechanism in this invention;

[0022] Figure 7 This is a perspective view of the first loading robot arm in this invention;

[0023] Figure 8 This is a perspective view of the oiling mechanism in this invention;

[0024] Figure 9 This is a schematic diagram of the structure of the first gripper module in this invention. Detailed implementation method:

[0025] The present invention will be further described below with reference to specific embodiments and accompanying drawings.

[0026] See Figures 1 to 9As shown, this is an integrated feeding device for multiple sheet parts, comprising: a first frame 21; a first feeding mechanism 22 disposed on one side of the first frame 21 for feeding parts A1; a transfer mechanism 23 disposed beside the first feeding mechanism 22 for transferring parts A1; a flipping mechanism 24 disposed between the transfer mechanism 23 and the first feeding mechanism 22 for flipping parts A1; a first transfer robot 25 spanning between the first feeding mechanism 22, the transfer mechanism 23, and the flipping mechanism 24 for transporting parts A1; a first loading robot 26 disposed at the end of the transfer mechanism 23 for gripping and transferring parts A1; a first CCD camera 27 disposed above the junction of the first feeding mechanism 22 and the first transfer robot 25 for detecting parts A1; and an oiling mechanism 28 disposed above the transfer mechanism 23 for oiling parts A1. The first feeding mechanism 22 is provided with a tray for placing multiple parts A1. The first feeding mechanism 22 transfers a tray containing multiple parts A1 to a location below the first CCD camera 27. The first CCD camera 27 performs visual inspection of the parts A1 on the tray. Then, the first transfer robot 25 transfers the inspected parts A1 to the flipping mechanism 24. After the flipping mechanism 24 rotates the parts A1 to a suitable angle, the first transfer robot 25 moves the rotated parts A1 to the transfer mechanism 23. The transfer mechanism 23 moves the parts A1 to the oiling mechanism 28 for oiling treatment. Finally, the parts A1 are moved to the first loading robot 26, which picks up the parts A1 and transfers them for assembly. This achieves synchronous automatic feeding of multiple parts A1. The overall structure of the equipment is compact, occupies little space, and can feed multiple parts A1 simultaneously with high efficiency. Furthermore, the use of the first CCD camera 27 for alignment detection reduces the error rate and rework, significantly reducing various costs for enterprises.

[0027] The first loading mechanism 22 includes a first transport module 221 arranged perpendicular to the movement direction of the first transfer robot 25, a full-pan accumulating module 222 arranged at one end of the first transport module 221 for stacking full-loaded pans 22A, and an empty-pan accumulating module 223 arranged on the other side of the first transport module 221 for stacking empty pans. The first transfer robot 25 passes between the full-pan accumulating module 222 and the empty-pan accumulating module 223, and the first CCD camera 27 is located above the full-pan accumulating module 222 and the empty-pan accumulating module 223. Multiple parts A1 of different shapes can be placed on the full-loaded pan 22A.

[0028] The flipping mechanism 24 includes a first contouring carrier 241 for supporting the part A1, a first rotating seat 242 and a second rotating seat 243 disposed on both sides of the first contouring carrier 241 and cooperating to clamp at least one part A1, a first lifting cylinder 244 for driving the first contouring carrier 241 to lift and detach from the part A1, a first drive module 245 disposed on the side of the first contouring carrier 241 and for driving the first rotating seat 242 and the second rotating seat 243 to rotate synchronously, and a second drive module 246 for driving the first rotating seat 242 and the second rotating seat 243 to cooperate in clamping and releasing the part A1.

[0029] The first contouring carrier 241 is provided with a plurality of contouring positioning grooves 241A for positioning parts A1 of different shapes. The first rotating seat 242 and the second rotating seat 243 are arranged side by side and symmetrically distributed. One end of the first rotating seat 242 and the second rotating seat 243 is symmetrically provided with a first clamping groove 242A and a second clamping groove 243A for positioning the parts A1. The other end of the first rotating seat 242 and the second rotating seat 243 is provided with a first eccentric cam 242B and a second eccentric cam 243B that dock with the first drive module 245 and are used to drive it to swing.

[0030] The first drive module 245 includes a first push plate 245A disposed at the other end of the first rotary seat 242 and engaged with the first eccentric cam 242B, a second push plate 245B disposed at the other end of the second rotary seat 243 and engaged with the second eccentric cam 243B, a first connecting plate 245C slidably engaged with one end of the first push plate 245A and one end of the second push plate 245B, a first slide rail 245D disposed parallel to the first push plate 245A and the second push plate 245B and used to slide support the first connecting plate 245C, and a second cylinder 245F used to push the first connecting plate 245C along one end of the first slide rail 245D.

[0031] The second drive module 246 includes a second slide rail 246A and a third slide rail 246B arranged parallel to both ends of the first contour carrier 241 and perpendicular to the first slide rail 245D; a first movable seat 246C and a second movable seat 246D slidably disposed on the second slide rail 246A and the third slide rail 246B and respectively used to support the first rotating seat 242 and the second rotating seat 243; a bidirectional lead screw 246E connecting one end of the first movable seat 246C and the second movable seat 246D and used to drive the first movable seat 246C and the second movable seat 246D to move closer to each other and further apart; and a first motor 246F used to drive the bidirectional lead screw 246E to move.

[0032] The first transfer robot 25 includes a first support frame 251 and a second support frame 252 that are parallel to each other across the first loading mechanism 22, the transfer mechanism 23 and the flipping mechanism 24, a fourth slide rail 253 disposed on the first support frame 251, a third drive module 254 disposed on the second support frame 252, a first movable frame 255 mounted on the fourth slide rail 253 and the third drive module 254 and capable of moving above the first loading mechanism 22, the transfer mechanism 23 and the flipping mechanism 24, multiple sets of first suction nozzle modules 256 disposed in parallel on one side of the first movable frame 255 for picking up the part A1, multiple sets of first gripper modules 257 disposed in parallel on the other side of the first movable frame 255 for gripping the part A1, and a fourth drive device 258 and a fifth drive device 259 disposed on the first movable frame 255 for driving the first suction nozzle module 256 and the first gripper module 257 to move up and down respectively.

[0033] The first gripper module 257 includes a limiting mounting base 257A mounted on the other side of the first movable frame 255 in a lifting and moving manner; a first gripper arm 257B and a second gripper arm 257C slidably disposed at the lower end of the limiting mounting base 257A and cooperating to grip the part A1; a first sliding push block 257D disposed on the limiting mounting base 257A and used to push the first gripper arm 257B and the second gripper arm 257C to clamp and release the part A1; and a first sliding push block 257D used to drive the first sliding push block 257D. The third cylinder 257E moves the push block 257D up and down. The first sliding push block 257D is provided with a first limiting push groove 257F and a second limiting push groove 257G arranged in a figure-eight shape for docking and locking with the first clamping arm 257B and the second clamping arm 257C. The first clamping arm 257B and the second clamping arm 257C are respectively provided with a first locking block 257H and a second locking block 257I that are locked into the first limiting push groove 257F and the second limiting push groove 257G.

[0034] The first suction module 256 includes a first cantilever 256A mounted on one side of the first movable frame 255 in a lifting and moving manner, and at least two first suction nozzles 256B disposed on the first cantilever 256A for sucking up the part A1.

[0035] The transfer mechanism 23 includes a sixth linear drive module 231 disposed at one end of the first transfer manipulator 25, a transfer seat 232 disposed on the sixth linear drive module 231 and used to carry the part A1, a plurality of first contour support seats 233 disposed in parallel on the transfer seat 232 and used to position the part A1, a spring-loaded fixing clamp 234 disposed on one side of the first contour support seat 233 and used to press and clamp the part A1, a sliding clamp 235 slidably mounted on the transfer seat 232 and used to push the spring-loaded fixing clamp 234 away from the part A1, and a first spring-loaded clamp release cylinder 236 and a second spring-loaded clamp release cylinder 237 disposed at both ends of the sixth linear drive module 231 and used to push the sliding clamp 235 to move.

[0036] The first loading robot 26 includes a first four-axis robot arm 261 and a plurality of cylinder clamps 262 mounted on the first four-axis robot arm 261 for gripping the part A1. The first four-axis robot arm 261 can drive the cylinder clamps 262 to rotate and switch positions. The oiling mechanism 28 includes a third support frame 281 spanning the transfer mechanism 23, a first oiling valve 282 and a second oiling valve 283 mounted above the transfer mechanism 23 for oiling both ends of the part A1, a seventh drive module 284 mounted on the third support frame 281 for driving the first oiling valve 282 and the second oiling valve 283 to move closer and further apart, and an eighth drive module 285 and a ninth drive module 286 mounted on the seventh drive module 284 for driving the first oiling valve 282 and the second oiling valve 283 to move up and down respectively.

[0037] In summary, during equipment operation, workers manually place groups of parts A1 of different shapes onto a full-load tray 22A. The full-load tray 22A with the parts A1 placed on it is then stacked and loaded into the first feeding mechanism 22. The first feeding mechanism 22 moves the full-load tray 22A to a position below the first CCD camera 27. The first CCD camera 27 detects and determines whether each group of parts A1 on the full-load tray 22A meets the picking criteria. Groups that do not meet the criteria are not picked up and are moved away with the tray. The first transfer robot 25 then transfers the group of parts A1 that meets the criteria to the flipping mechanism 24 for flipping. The flipped parts A1 are then transferred to the transfer mechanism 23. The transfer mechanism 23 moves the parts A1 to the oiling mechanism 28 for oiling. Finally, the parts A1 are moved to the first loading robot 26, which then transfers the parts A1 one by one onto the carrier positioning device.

[0038] Of course, the above description is only a specific embodiment of the present invention and is not intended to limit the scope of the present invention. All equivalent changes or modifications made to the structure, features and principles described in the claims of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A multi-sheet parts integral feeding device, characterized in that, include: A first frame (21), a first feeding mechanism (22) disposed on one side of the first frame (21) for feeding part (A1), a transfer mechanism (23) disposed beside the first feeding mechanism (22) for transferring part (A1), a flipping mechanism (24) disposed between the transfer mechanism (23) and the first feeding mechanism (22) for flipping part (A1), a first transfer robot (25) spanning between the first feeding mechanism (22), the transfer mechanism (23), and the flipping mechanism (24) for transporting part (A1), and a gripper disposed at the end of the transfer mechanism (23) for grasping part (A1). The system includes a first loading robot (26) for transferring and loading part (A1), a first CCD camera (27) positioned above the junction of the first loading mechanism (22) and the first transfer robot (25) for detecting part (A1), and an oiling mechanism (28) positioned above the transfer mechanism (23) for oiling part (A1). The first loading mechanism (22) includes a first transport module (221) positioned perpendicular to the movement direction of the first transfer robot (25), a full-pan accumulating module (222) positioned at one end of the first transport module (221) for stacking a full-load pan (22A), and an oiling mechanism (28) positioned above the transfer mechanism (23) for oiling part (A1). On the other side of the transport module (221) is an empty pallet accumulator module (223) for stacking empty pallets. The full pallet (22A) can hold multiple parts (A1) of different shapes. The first transfer robot (25) includes a first support frame (251) and a second support frame (252) that are parallel to each other between the first loading mechanism (22), the transfer mechanism (23), and the flipping mechanism (24), a fourth slide rail (253) set on the first support frame (251), a third drive module (254) set on the second support frame (252), and a drive module (254) mounted on the fourth slide rail (253) and the third drive module (254). The first moving frame (255) is capable of moving above the first feeding mechanism (22), the transfer mechanism (23), and the flipping mechanism (24); multiple sets of first suction nozzle modules (256) arranged in parallel on one side of the first moving frame (255) for picking up the part (A1); multiple sets of first gripper modules (257) arranged in parallel on the other side of the first moving frame (255) for gripping the part (A1); and a fourth driving device (258) and a fifth driving device (259) arranged on the first moving frame (255) for driving the first suction nozzle module (256) and the first gripper module (257) to move up and down respectively.

2. The integral feeding device for multi-sheet parts according to claim 1, characterized in that: The flipping mechanism (24) includes a first contouring carrier (241) for carrying the part (A1), a first rotating seat (242) and a second rotating seat (243) disposed on both sides of the first contouring carrier (241) and cooperating to clamp at least one part (A1), a first lifting cylinder (244) for driving the first contouring carrier (241) to lift and detach from the part (A1), a first drive module (245) disposed on the side of the first contouring carrier (241) and for driving the first rotating seat (242) and the second rotating seat (243) to rotate synchronously, and a second drive module (246) for driving the first rotating seat (242) and the second rotating seat (243) to cooperate to clamp and release the part (A1).

3. The integral feeding device for multi-sheet parts according to claim 2, characterized in that: The first contouring carrier (241) is provided with a plurality of contouring positioning grooves (241A) for positioning the parts (A1) of different shapes, and the first rotating seat (242) and the second rotating seat (243) are provided with a plurality of grooves and are symmetrically distributed.

4. The integral feeding device for multi-sheet parts according to claim 3, characterized in that: The first rotating seat (242) and the second rotating seat (243) are symmetrically provided with a first clamping groove (242A) and a second clamping groove (243A) for positioning the part (A1) at one end. The other end of the first rotating seat (242) and the second rotating seat (243) is provided with a first eccentric cam (242B) and a second eccentric cam (243B) for docking with the first drive module (245) and for driving it to swing.

5. The integral feeding device for multi-sheet parts according to claim 4, characterized in that: The first drive module (245) includes a first push plate (245A) disposed at the other end of the first rotary seat (242) and engaged with the first eccentric cam (242B), a second push plate (245B) disposed at the other end of the second rotary seat (243) and engaged with the second eccentric cam (243B), a first connecting plate (245C) slidably engaged with one end of the first push plate (245A) and one end of the second push plate (245B), a first slide rail (245D) parallel to the first push plate (245A) and the second push plate (245B) and used to slide support the first connecting plate (245C), and a second cylinder (245F) used to push the first connecting plate (245C) along one end of the first slide rail (245D).

6. The integral feeding device for multi-sheet parts according to claim 5, characterized in that: The second drive module (246) includes a second slide rail (246A) and a third slide rail (246B) arranged parallel to both ends of the first contour carrier (241) and perpendicular to the first slide rail (245D); a first movable seat (246C) and a second movable seat (246D) slidably disposed on the second slide rail (246A) and the third slide rail (246B) and respectively used to support the first rotating seat (242) and the second rotating seat (243); a bidirectional lead screw (246E) connecting one end of the first movable seat (246C) and the second movable seat (246D) and used to drive the first movable seat (246C) and the second movable seat (246D) to move closer and further apart; and a first motor (246F) used to drive the bidirectional lead screw (246E) to move.

7. The integral feeding device for multi-sheet parts according to claim 1, characterized in that: The first gripper module (257) includes a limiting mounting base (257A) mounted on the other side of the first movable frame (255) in a lifting and moving manner, a first gripper arm (257B) and a second gripper arm (257C) slidably disposed on the lower end of the limiting mounting base (257A) and cooperating to grip the part (A1), a first sliding push block (257D) disposed on the limiting mounting base (257A) and used to push the first gripper arm (257B) and the second gripper arm (257C) to clamp and release the part (A1), and a third cylinder (257E) for driving the first sliding push block (257D) to lift and move.

8. A multi-sheet part integral feeding device according to any one of claims 1-7, characterized in that: The transfer mechanism (23) includes a sixth linear drive module (231) disposed at one end of the first transfer manipulator (25), a transfer seat (232) disposed on the sixth linear drive module (231) and used to carry the part (A1), a plurality of first contour support seats (233) disposed in parallel on the transfer seat (232) and used to position the part (A1), a spring-loaded fixing clamp (234) disposed on one side of the first contour support seat (233) and used to press and clamp the part (A1), a sliding clamp (235) slidably mounted on the transfer seat (232) and used to push the spring-loaded fixing clamp (234) away from the part (A1), and a first spring-loaded clamp release cylinder (236) and a second spring-loaded clamp release cylinder (237) disposed at both ends of the sixth linear drive module (231) and used to push the sliding clamp (235) to move.

9. A multi-sheet part integral feeding device according to any one of claims 1-7, characterized in that: The oiling mechanism (28) includes a third support frame (281) spanning across the transfer mechanism (23), a first oiling valve (282) and a second oiling valve (283) disposed above the transfer mechanism (23) for oiling both ends of the part (A1), a seventh drive module (284) disposed on the third support frame (281) for driving the first oiling valve (282) and the second oiling valve (283) to move closer and further apart, and an eighth drive module (285) and a ninth drive module (286) disposed on the seventh drive module (284) for driving the first oiling valve (282) and the second oiling valve (283) to move up and down respectively.

Images