A guided and centered pallet grabber device

Abstract

This invention relates to the field of material turnover and stacking technology, and particularly to a gripper device for turnover baskets with guidance and centering. The device includes a gripper mounting frame, a left-side gripping mechanism, an image position sensor, a pneumatic valve island mounting box, and a right-side gripping mechanism. The gripper mounting frame is equipped with a centering and aligning mechanism. The left and right gripping mechanisms are respectively located on the left and right sides of the gripper mounting frame and connected to the centering and aligning mechanism. The centering and aligning mechanism drives the left and right gripping mechanisms to move in opposite directions, thereby gripping or releasing the turnover basket. The image position sensor and the pneumatic valve island mounting box are mounted on the gripper mounting frame. The image position sensor is used to detect the gripping and placement position of the turnover basket. The pneumatic valve island mounting box is used to control the left and right gripping mechanisms. This invention can achieve gripping, aligning, and guiding operations, improving the stability of stacking and providing a corrective function when the stacking position deviates.

Description

Technical Field

[0001] This invention relates to the field of material turnover and stacking technology, and in particular to a turnover basket gripper device with guidance and centering. Background Technology

[0002] Turnover crates are indispensable in industrial assembly lines and warehousing. However, most turnover crates are plastic crates with open tops. Since these crates contain materials, they cannot be picked up and moved using suction cup gripping methods. Therefore, the efficient turnover of turnover crates has always been a hot topic in the warehousing industry.

[0003] In existing technologies, material storage and circulation mainly rely on robotic palletizing. Palletizing operates according to predetermined positions and patterns, resulting in significant randomness in the position and orientation of the palletized crates within a certain area. This leads to a low success rate in crate retrieval, greatly impacting stacking efficiency and making it difficult to guarantee accuracy. Therefore, there is an urgent need for a crate gripping device with high positioning accuracy, self-correcting capabilities, stable operation, and the ability to meet the needs of continuous production. Summary of the Invention

[0004] To address the aforementioned problems, the present invention aims to provide a guide and centering gripper device for turnover baskets, which enables continuous and stable unpacking and stacking of turnover baskets, and also has a correction function within a certain range.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] This invention provides a guide and centering gripper device for turnover baskets, including a gripper mounting frame, a left gripping mechanism, an image position sensor, a pneumatic valve island mounting box, and a right gripping mechanism. The gripper mounting frame is equipped with a centering and alignment mechanism. The left and right gripping mechanisms are respectively located on the left and right sides of the gripper mounting frame and connected to the centering and alignment mechanism. The centering and alignment mechanism drives the left and right gripping mechanisms to move in opposite directions, thereby gripping or releasing the turnover basket. The image position sensor and the pneumatic valve island mounting box are mounted on the gripper mounting frame. The image position sensor is used to detect the gripping and placement position of the turnover basket. The pneumatic valve island mounting box is used to control the left and right gripping mechanisms.

[0007] The centering and aligning mechanism includes an aligning structural frame, left and right aligning guide rail sliders, a truss mounting plate, a left gripping mechanism mounting plate, a cylinder mounting seat, an aligning cylinder I, an aligning linkage mechanism, a right gripping mechanism mounting plate, and a swing bearing seat. The left and right aligning guide rail sliders are provided on both sides of the aligning structural frame along the lateral direction. The left and right gripping mechanism mounting plates are respectively connected to the left and right aligning guide rail sliders on both sides.

[0008] The truss mounting plate is set on the alignment structure frame, the swing bearing seat is set on the truss mounting plate, the alignment linkage mechanism is connected to the swing bearing seat, and both ends are connected to the left gripping mechanism mounting plate and the right gripping mechanism mounting plate respectively; the alignment cylinder I is mounted on the truss mounting plate through the cylinder mounting seat, and the output end is connected to the left gripping mechanism mounting plate. The alignment cylinder I drives the left gripping mechanism mounting plate and the right gripping mechanism mounting plate to move in opposite directions.

[0009] The alignment linkage mechanism includes a middle link, a left link, and a right link. The middle link is connected to the swing bearing seat, and both ends of the middle link are hinged to one end of the left link and one end of the right link, respectively. The other ends of the left link and the right link are hinged to the left gripping mechanism mounting plate and the right gripping mechanism mounting plate, respectively.

[0010] The left and right gripping mechanisms have the same structure, both including a gripping mechanism mounting base, a turnover basket gripping block, a centering and aligning plate, a guide aligning mechanism, a guide aligning mechanism telescopic cylinder, and a vertical guide rail slider. The upper end of the gripping mechanism mounting base is connected to the gripper mounting frame. The front of the gripping mechanism mounting base has multiple turnover basket gripping blocks spaced along the height direction, and centering and aligning plates are set on the left and right sides of the turnover basket gripping blocks. The back of the gripping mechanism mounting base has a vertical guide rail slider, and the guide aligning mechanism is connected to the vertical guide rail slider. The guide aligning mechanism is used to center the turnover basket in the front and back directions. The guide aligning mechanism telescopic cylinder is set at the upper end of the gripping mechanism mounting base, and its output end is connected to the guide aligning mechanism.

[0011] The upper end of the guide alignment mechanism is provided with a guide shaft that is slidably connected to the gripping mechanism mounting base. A compression spring is sleeved on the guide shaft, and the two ends of the compression spring abut against the guide alignment mechanism and the gripping mechanism mounting base, respectively.

[0012] The guiding alignment mechanism includes an alignment cylinder mounting base, a guiding alignment mechanism mounting base, a guiding alignment block mounting plate, an alignment connecting rod, front and rear alignment guide rail sliders, a connecting rod connecting seat, a one-way guiding alignment plate, and an alignment cylinder II. The guiding alignment mechanism mounting base is slidably connected to the vertical guide rail slider. Front and rear alignment guide rail sliders are provided on both sides of the guiding alignment mechanism mounting base in the horizontal direction. The guiding alignment block mounting plate and the one-way guiding alignment plate are respectively connected to the front and rear alignment guide rail sliders on both sides.

[0013] The alignment cylinder mounting base is located on the top of the guide alignment mechanism mounting base. The alignment cylinder II is located on the alignment cylinder mounting base, and its output end is connected to the connecting rod connecting seat. The connecting rod connecting seat is hinged to the guide alignment block mounting plate and the one-way guide alignment plate respectively through two alignment connecting rods. The guide alignment block mounting plate is provided with an alignment block assembly.

[0014] The alignment cylinder II drives the connecting rod to move up and down, while the two alignment connecting rods drive the one-way guide alignment plate and the guide alignment block mounting plate to move horizontally in a straight line, thereby realizing the centering and alignment action of the gripping mechanism.

[0015] The alignment block assembly includes a guide alignment block and multiple alignment blocks. The guide alignment block is located at the lower end of the guide alignment block mounting plate, and the multiple alignment blocks are located above the guide alignment block and are spaced apart along the height direction on the guide alignment block mounting plate. Both the guide alignment block and the alignment blocks are right-angled structures, and the lower end of the guide alignment block is provided with a guide slope.

[0016] The advantages and positive effects of this invention are as follows:

[0017] 1. The centering and alignment mechanism of the present invention is driven by a cylinder, which drives the connecting rod to achieve the centering action, making the action faster and providing better centering stability compared to other structures.

[0018] 2. The image position sensor of the present invention can accurately measure the position and size of the turnover basket, and transmit the data to the corresponding actuator to drive the gripping device for gripping.

[0019] 3. The gripping mechanism of the present invention can perform gripping, alignment, and guiding operations. The guiding mechanism can improve the stability of palletizing and can also correct deviations when the palletizing position deviates.

[0020] 4. The guiding and aligning mechanism of the present invention can ensure that the position of the turnover basket does not deviate during the unpacking and stacking process. Attached Figure Description

[0021] Figure 1 This is an isometric view of a guide and centering gripper device for a turnover basket according to the present invention.

[0022] Figure 2 This is an isometric view of the centering and alignment mechanism in this invention;

[0023] Figure 3 This is an isometric view of the gripping mechanism in this invention;

[0024] Figure 4 This is an isometric view of the guiding alignment mechanism in this invention;

[0025] Wherein: 1 is the gripper mounting frame, 101 is the alignment mechanism frame, 102 is the left and right alignment guide rail slider, 103 is the truss mounting plate, 104 is the left gripping mechanism mounting plate, 105 is the cylinder mounting seat, 106 is the alignment cylinder I, 107 is the alignment linkage mechanism, 108 is the image sensor cleaning nozzle, 109 is the right gripping mechanism mounting plate, 110 is the swing bearing seat, and 2 is the left gripping mechanism. 3 is the image position sensor, 4 is the pneumatic valve island mounting box, 5 is the right-side gripping mechanism, 6 is the turnover basket, 201 is the gripping mechanism mounting seat, 202 is the turnover basket gripping block, 203 is the centering and aligning plate, 204 is the guiding and aligning mechanism, 205 is the guiding and aligning mechanism telescopic cylinder, 206 is the guide shaft, 207 is the clamping spring, 208 is the vertical guide rail slider, 301 is the aligning cylinder mounting seat, 302 is the guiding and aligning mechanism mounting seat, 303 is the guiding and aligning block mounting plate, 304 is the aligning block, 305 is the aligning connecting rod, 306 is the front and rear aligning guide rail slider, 307 is the guiding and aligning block, 308 is the connecting rod connecting seat, 309 is the one-way guiding and aligning plate, and 310 is the aligning cylinder II. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0027] like Figure 1 As shown, this invention provides a guide and centering gripper device for a turnover basket, including a gripper mounting frame 1, a left gripping mechanism 2, an image position sensor 3, a pneumatic valve island mounting box 4, and a right gripping mechanism 5. The gripper mounting frame 1 is equipped with a centering and alignment mechanism. The left gripping mechanism 2 and the right gripping mechanism 5 are symmetrically arranged on the bottom left and right sides of the gripper mounting frame 1 and connected to the centering and alignment mechanism. The centering and alignment mechanism drives the left gripping mechanism 2 and the right gripping mechanism 5 to move in opposite directions, thereby gripping or releasing the turnover basket 6. The image position sensor 3 and the pneumatic valve island mounting box 4 are mounted on the gripper mounting frame 1, with the pneumatic valve island mounting box 4 located to one side of the image position sensor 3. The image position sensor 3 is used to detect the gripping and placement position of the turnover basket 6. The pneumatic valve island mounting box 4 is used to control the left gripping mechanism 2 and the right gripping mechanism 5.

[0028] like Figure 2As shown, in an embodiment of the present invention, the centering and alignment mechanism includes an alignment structure frame 101, left and right alignment guide rail sliders 102, a truss mounting plate 103, a left gripping mechanism mounting plate 104, a cylinder mounting seat 105, an alignment cylinder I 106, an alignment linkage mechanism 107, a right gripping mechanism mounting plate 109, and a swing bearing seat 110. Left and right alignment guide rail sliders 102 are provided on both sides of the alignment structure frame 101 along the transverse direction. The left gripping mechanism mounting plate 104 and the right gripping mechanism mounting plate 109 are respectively connected to the left and right alignment guide rail sliders 102 on both sides. The truss mounting plate 103 is disposed on the alignment structure frame 101. On the frame 101, a swing bearing seat 110 is mounted on the truss mounting plate 103. The alignment linkage mechanism 107 is rotatably connected to the swing bearing seat 110, and its two ends are respectively connected to the left gripping mechanism mounting plate 104 and the right gripping mechanism mounting plate 109. The right gripping mechanism mounting plate 109 is provided with an image sensor cleaning nozzle 108. The alignment cylinder I 106 is mounted on the truss mounting plate 103 through the cylinder mounting seat 105, and its output end is connected to the left gripping mechanism mounting plate 104. The alignment cylinder I 106 drives the left gripping mechanism mounting plate 104 and the right gripping mechanism mounting plate 109 to move in opposite directions.

[0029] Specifically, the alignment linkage mechanism 107 includes a middle link, a left link, and a right link. The middle link is rotatably connected to the swing bearing seat 110. The two ends of the middle link are respectively hinged to one end of the left link and one end of the right link. The other ends of the left link and the right link are respectively hinged to the left gripping mechanism mounting plate 104 and the right gripping mechanism mounting plate 109.

[0030] Specifically, two sets of left and right alignment guide rail sliders 102 are provided on both sides of the alignment structure frame 101. The upper and lower ends of the left gripping mechanism mounting plate 104 and the right gripping mechanism mounting plate 109 are respectively connected to the corresponding two sets of left and right alignment guide rail sliders 102.

[0031] During operation, the gripping cylinder 106 drives the alignment linkage mechanism 107 to rotate around the swing bearing seat 109 via the left gripping mechanism mounting plate 104. At the same time, the linkage mechanism 107 drives the right gripping mechanism mounting plate 109 to make linear motion, thereby realizing the centering gripping action of the gripping mechanism.

[0032] like Figure 3As shown in the embodiment of the present invention, the left gripping mechanism 2 and the right gripping mechanism 5 have the same structure, both including a gripping mechanism mounting base 201, a turnover basket gripping block 202, a centering and aligning plate 203, a guide aligning mechanism 204, a guide aligning mechanism telescopic cylinder 205, and a vertical guide rail slider 208. The upper end of the gripping mechanism mounting base 201 is connected to the gripper mounting frame 1. The front of the gripping mechanism mounting base 201 is provided with multiple turnover basket gripping blocks 202 and centering and aligning plates 203 arranged on the left and right sides of the turnover basket gripping blocks 202 at intervals along the height direction. The back of the gripping mechanism mounting base 201 is provided with two sets of vertical guide rail sliders 208. The guide aligning mechanism 204 is connected to the two sets of vertical guide rail sliders 208 and is used to center the turnover basket 6 in the front and back directions. The guide aligning mechanism telescopic cylinder 205 is arranged at the upper end of the gripping mechanism mounting base 201 and its output end is connected to the guide aligning mechanism 204.

[0033] Furthermore, the upper end of the guide alignment mechanism 204 is provided with a guide shaft 206 that is slidably connected to the gripping mechanism mounting base 201. A compression spring 207 is sleeved on the guide shaft 206, and the two ends of the compression spring 207 abut against the guide alignment mechanism 204 and the gripping mechanism mounting base 201, respectively.

[0034] During operation, the telescopic cylinder 205 of the guide alignment mechanism retracts, driving the guide alignment mechanism 204 to move upward along the vertical guide rail slider 208; the compression spring 207 drives the guide alignment mechanism 204 to move downward along the vertical guide rail slider 208. At this time, the telescopic cylinder 205 of the guide alignment mechanism is not activated, thus realizing the telescopic action of the guide alignment mechanism 204.

[0035] like Figure 4As shown, in an embodiment of the present invention, the guide alignment mechanism 204 includes an alignment cylinder mounting base 301, a guide alignment mechanism mounting base 302, a guide alignment block mounting plate 303, an alignment connecting rod 305, front and rear alignment guide rail sliders 306, a connecting rod connecting seat 308, a one-way guide alignment plate 309, and an alignment cylinder II 310. The guide alignment mechanism mounting base 302 is slidably connected to the vertical guide rail slider 208. Front and rear alignment guide rail sliders 306 are provided on both sides of the guide alignment mechanism mounting base 302 along the horizontal direction. The alignment block mounting plate 303 and the one-way guide alignment plate 309 are respectively connected to the front and rear alignment guide rail sliders 306 on both sides; the alignment cylinder mounting seat 301 is set on the top of the guide alignment mechanism mounting seat 302, and the alignment cylinder II 310 is set on the alignment cylinder mounting seat 301, with its output end connected to the connecting rod connecting seat 308. The connecting rod connecting seat 308 is hinged to the guide alignment block mounting plate 303 and the one-way guide alignment plate 309 respectively through two alignment connecting rods 305. The guide alignment block mounting plate 303 is provided with an alignment block assembly. During operation, the alignment cylinder II 310 drives the connecting rod connecting seat 308 to move up and down, while the two alignment connecting rods 305 respectively drive the one-way guide alignment plate 309 and the guide alignment block mounting plate 303 to move horizontally in a straight line, thereby realizing the centering and alignment action of the gripping mechanism.

[0036] Specifically, the alignment block assembly includes a guide alignment block 307 and multiple alignment blocks 304. The guide alignment block 307 is disposed at the lower end of the guide alignment block mounting plate 303, and the multiple alignment blocks 304 are disposed above the guide alignment block 307 and are spaced apart on the guide alignment block mounting plate 303 along the height direction. Both the guide alignment block 307 and the alignment blocks 304 are right-angled structures, and the lower end of the guide alignment block 307 is provided with a guide slope.

[0037] The present invention provides a guide and centering gripper device for turnover baskets, the working principle of which is as follows:

[0038] The three-layer turnover basket 6, delivered by the conveyor line, is transported to the designated position, where the image position sensor 3 on the gripper detects its position. The left gripping mechanism 2 and the right gripping mechanism 5 on the gripper retract under the drive of the telescopic cylinder 205 of the guide alignment mechanism, and the truss drives the gripper to the gripping position of the turnover basket 6. Alignment cylinder I 106, through alignment linkage mechanism 107, drives the left gripping mechanism 2 and the right gripping mechanism 5 to center and grip the three-layer turnover basket 6, achieving long-side positioning. After centering and gripping, alignment cylinder II 310, through alignment linkage 305, drives the guide alignment mounting plate 303 and the one-way guide alignment plate 309 to center, align, and position the short side of the turnover basket. After completing the gripping action of the three-layer turnover basket 6, the gripper is driven by the truss to the designated stacking position for bottom-up stacking. The left gripping mechanism 2 and the right gripping mechanism 5 on the gripper extend under the action of the compression spring 207, and the image position sensor 3 on the gripper accurately positions the palletizing location. The guide alignment block 307 and the one-way guide alignment plate 309 guide the turnover baskets to be palletized to be accurately placed on the previously placed turnover baskets. After the three-layer turnover baskets 6 are placed, the alignment cylinder II 310 drives the guide alignment mounting plate 303 and the one-way guide alignment plate 309 to extend and detach from the turnover baskets simultaneously through the alignment linkage 305. The alignment cylinder I 106 drives the left gripping mechanism 2 and the right gripping mechanism 5 to detach from the turnover baskets simultaneously through the alignment linkage mechanism 107, completing the entire palletizing process.

[0039] The centering and alignment mechanism of this invention is driven by a cylinder, which in turn drives a connecting rod to achieve centering action, resulting in faster operation and better centering stability compared to other structures. An image position sensor accurately measures the position and dimensions of the turnover basket, transmitting the data to the corresponding actuator to drive the gripping device for grasping. The gripping mechanism enables grasping, alignment, and guiding. The guiding mechanism improves the stability of palletizing and provides correction when the palletizing position deviates. The guiding and alignment mechanism of this invention ensures that the position of the turnover basket does not deviate during unpacking and palletizing.

[0040] The above description is merely an embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, extensions, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

Claims

1. A guide and centering gripper device for turnover baskets, characterized in that, The device includes a gripper mounting frame (1), a left gripping mechanism (2), an image position sensor (3), a pneumatic valve island mounting box (4), and a right gripping mechanism (5). The gripper mounting frame (1) is equipped with a centering and alignment mechanism. The left gripping mechanism (2) and the right gripping mechanism (5) are respectively located on the left and right sides of the gripper mounting frame (1) and connected to the centering and alignment mechanism. The centering and alignment mechanism drives the left gripping mechanism (2) and the right gripping mechanism (5) to move in opposite directions to grasp or release the turnover basket (6). The image position sensor (3) and the pneumatic valve island mounting box (4) are located on the gripper mounting frame (1). The image position sensor (3) is used to detect the gripping and placement position of the turnover basket (6). The pneumatic valve island mounting box (4) is used to control the left gripping mechanism (2) and the right gripping mechanism (5). The left gripping mechanism (2) and the right gripping mechanism (5) have the same structure, both including a gripping mechanism mounting base (201), a turnover basket gripping block (202), a centering and aligning plate (203), a guide aligning mechanism (204), a guide aligning mechanism telescopic cylinder (205), and a vertical guide rail slider (208). The upper end of the gripping mechanism mounting base (201) is connected to the gripper mounting frame (1), and the front of the gripping mechanism mounting base (201) is provided with multiple turnover basket gripping blocks spaced apart along the height direction. 202) and centering and aligning plates (203) set on the left and right sides of the gripping block (202) of the turnover basket; the back of the gripping mechanism mounting base (201) is provided with a vertical guide rail slider (208), the guide aligning mechanism (204) is connected to the vertical guide rail slider (208), and the guide aligning mechanism (204) is used to center the turnover basket (6) in the front and back directions; the guide aligning mechanism telescopic cylinder (205) is set at the upper end of the gripping mechanism mounting base (201), and the output end is connected to the guide aligning mechanism (204); The guide alignment mechanism (204) includes an alignment cylinder mounting seat (301), a guide alignment mechanism mounting seat (302), a guide alignment block mounting plate (303), an alignment connecting rod (305), front and rear alignment guide rail sliders (306), a connecting rod connecting seat (308), a one-way guide alignment plate (309), and an alignment cylinder II (310). The guide alignment mechanism mounting seat (302) is slidably connected to the vertical guide rail slider (208). Front and rear alignment guide rail sliders (306) are provided on both sides of the guide alignment mechanism mounting seat (302) in the horizontal direction. The guide alignment block mounting plate (303) and the one-way guide alignment plate (309) are respectively connected to the front and rear alignment guide rail sliders (306) on both sides. Alignment cylinder mounting base (301) is set on top of guide alignment mechanism mounting base (302), alignment cylinder II (310) is set on alignment cylinder mounting base (301), and its output end is connected to connecting rod connecting base (308). Connecting rod connecting base (308) is hinged to guide alignment block mounting plate (303) and one-way guide alignment plate (309) respectively through two alignment connecting rods (305). Alignment block assembly is provided on guide alignment block mounting plate (303). Alignment cylinder II (310) drives the connecting rod connecting seat (308) to move up and down. At the same time, the two alignment connecting rods (305) drive the one-way guide alignment plate (309) and the guide alignment block mounting plate (303) to move horizontally and linearly, thereby realizing the centering and alignment action of the gripping mechanism.

2. The guide and centering turnover basket gripper device according to claim 1, characterized in that, The centering and alignment mechanism includes an alignment structure frame (101), left and right alignment guide rail sliders (102), a truss mounting plate (103), a left gripping mechanism mounting plate (104), a cylinder mounting seat (105), an alignment cylinder I (106), an alignment linkage mechanism (107), a right gripping mechanism mounting plate (109), and a swing bearing seat (110). The alignment structure frame (101) has left and right alignment guide rail sliders (102) on both sides along the lateral direction. The left gripping mechanism mounting plate (104) and the right gripping mechanism mounting plate (109) are respectively connected to the left and right alignment guide rail sliders (102) on both sides. The truss mounting plate (103) is set on the alignment structure frame (101), the swing bearing seat (110) is set on the truss mounting plate (103), the alignment linkage mechanism (107) is connected to the swing bearing seat (110), and both ends are connected to the left gripping mechanism mounting plate (104) and the right gripping mechanism mounting plate (109) respectively; the alignment cylinder I (106) is mounted on the truss mounting plate (103) through the cylinder mounting seat (105), and the output end is connected to the left gripping mechanism mounting plate (104). The alignment cylinder I (106) drives the left gripping mechanism mounting plate (104) and the right gripping mechanism mounting plate (109) to move in opposite directions.

3. The guide and centering turnover basket gripper device according to claim 2, characterized in that, The alignment linkage mechanism (107) includes a middle link, a left link and a right link, wherein the middle link is connected to the swing bearing seat (110), and the two ends of the middle link are respectively hinged to one end of the left link and the right link, and the other ends of the left link and the right link are respectively hinged to the left gripping mechanism mounting plate (104) and the right gripping mechanism mounting plate (109).

4. The guide and centering turnover basket gripper device according to claim 1, characterized in that, The upper end of the guide alignment mechanism (204) is provided with a guide shaft (206) that is slidably connected to the gripping mechanism mounting base (201). A compression spring (207) is sleeved on the guide shaft (206), and the two ends of the compression spring (207) abut against the guide alignment mechanism (204) and the gripping mechanism mounting base (201) respectively.

5. The guide and centering turnover basket gripper device according to claim 1, characterized in that, The alignment block assembly includes a guide alignment block (307) and multiple alignment blocks (304). The guide alignment block (307) is disposed at the lower end of the guide alignment block mounting plate (303), and the multiple alignment blocks (304) are disposed above the guide alignment block (307) and are spaced apart on the guide alignment block mounting plate (303) along the height direction. Both the guide alignment block (307) and the alignment blocks (304) are right-angled structures, and the lower end of the guide alignment block (307) is provided with a guide slope.

Images