A clamping manipulator and palletizing equipment containing the same

Abstract

The present invention belongs to the field of palletizing technology, and in particular to a clamping manipulator and a palletizing device containing the same. It is difficult for existing palletizing devices to perform palletizing operations on goods of different specifications and sizes, and the palletizing manipulator often needs to be replaced or adjusted in advance. In addition, the existing palletizing manipulator is not convenient for fixing irregular objects, resulting in poor versatility and low efficiency of the palletizing equipment, which increases the production cost of users. The following scheme is now proposed, including a clamping module, wherein the clamping module includes a tooling mounting plate, and one side of the tooling mounting plate is provided with mounting circular openings at equal distances. A clamping manipulator and a palletizing device containing the same disclosed by the present invention can perform palletizing operations on goods of different specifications and sizes without replacing or adjusting the palletizing manipulator, and is convenient for fixing irregular objects, thereby improving the versatility of the palletizing equipment, improving the efficiency of the palletizing equipment, and reducing the production cost of users.

Description

Technical Field

[0001] The present invention relates to the technical field of palletizing, and in particular to a clamping robot and a palletizing device containing the same. Background Art

[0002] ‌‌Palletizing‌ refers to stacking items neatly. It is a process of stacking items on specific pallets or containers in a certain pattern and order for subsequent transportation, warehousing or sales. The main purpose of palletizing is to improve logistics efficiency, reduce costs and ensure the safety and integrity of goods. In the field of industrial production, in order to facilitate the transportation and storage of goods, it is often necessary to stack the goods neatly on pallets first, and then stack the goods to improve the transportation efficiency and storage costs. At present, in the field of automation, palletizers generally use industrial robots or three-axis truss structures supplemented by manipulators or suction cup groups for palletizing operations.

[0003] It is difficult for existing palletizing equipment to palletize goods of different specifications and sizes, and it is often necessary to replace or adjust the palletizing robot in advance. In addition, the existing palletizing robot is not convenient for fixing irregular objects, resulting in poor versatility and low efficiency of the palletizing equipment, which increases the user's production cost. Summary of the invention

[0004] The present invention discloses a clamping robot and a palletizing device containing the same, aiming to solve the technical problem that the existing palletizing device in the background technology is difficult to perform palletizing operations on goods of different specifications and sizes, and the palletizing robot often needs to be replaced or adjusted in advance, and the existing palletizing robot is not convenient for fixing irregular objects, resulting in poor versatility and low efficiency of the palletizing device, which increases the production cost of users.

[0005] A clamping robot proposed in the present invention includes a clamping module, wherein the clamping module includes a tooling mounting plate, and one side of the tooling mounting plate is provided with mounting circular openings at equal distances, and the interiors of multiple mounting circular openings are fixedly and slidably connected with guide cylinders, and one end of the multiple guide cylinders is fixedly connected to the same lifting platform, and the two sides of the lifting platform are connected to the same U-shaped lifting rod by bolts.

[0006] In a preferred solution, a mounting opening is provided on one side of the tooling mounting plate, and circular holes are provided on both sides of the mounting opening, the interiors of the two circular holes are connected to the same winding drum through bearings, a mounting groove is provided on one side of the tooling mounting plate, a universal motor is fixedly connected to one side of the mounting groove, a driving end of the universal motor is connected to one end of the winding drum through a coupling, a rope is wound on the outside of the winding drum, and one end of the rope is fixedly connected to one side of the U-shaped lifting rod.

[0007] In a preferred solution, one side of the lifting platform is provided with slide groove openings at equal distances, and the interiors of the multiple slide groove openings are slidably connected with adjustment slide seats, the multiple adjustment slide seats are connected with L clamping rods via bolts on the side away from the tooling mounting plate, the other ends of the multiple L clamping rods are connected with clamping mounting blocks via bolts, the sides of the multiple clamping mounting blocks are provided with arc-shaped slide grooves, and the interiors of the multiple arc-shaped slide grooves are slidably connected with semicircular rotating blocks.

[0008] In a preferred embodiment, two arc-shaped grooves 2 are provided on the side surfaces of the multiple semicircular rotating blocks 1, and the interiors of the multiple arc-shaped grooves 2 are slidably connected with the semicircular rotating blocks 2; arc-shaped grooves 3 are provided on the side surfaces of the multiple semicircular rotating blocks 2, and the interiors of the multiple arc-shaped grooves 3 are slidably connected with the semicircular clamping blocks.

[0009] In a preferred solution, multiple adjusting slides are provided with circular holes No. 2 on one side facing the tooling mounting plate, and multiple circular holes No. 2 are connected to rotating shafts via bearings, the lifting platform is fixedly connected to a driving motor on one side facing the tooling mounting plate, a driving end of the driving motor is fixedly connected to a pushing circular plate, and circular holes No. 3 are provided on the pushing circular plate at equal distances from its center, multiple circular holes No. 3 are connected to eccentric cylinders via bearings, adjacent eccentric cylinders and the outside of the rotating shafts are movably connected to the same pushing support rod, and the upper side of the tooling mounting plate is fixedly connected to a tooling support frame.

[0010] By providing a clamping module, when the goods are clamped by the clamping manipulator on the palletizing equipment, the driving motor is started according to the size of the goods, and the driving motor drives the eccentric cylinder on the pushing circular plate to make the pushing support rod drive the adjusting slide to move inside the slide groove on the lifting platform, so that the clamping mounting block at one end of the L clamping rod on the adjusting slide moves to be suitable for the pre-palletized goods, and at the same time, when the clamping mounting block contacts the outside of the goods, the semicircular rotating block 1 rotates in the arc-shaped slide groove 1 of the clamping mounting block, the semicircular rotating block 2 rotates in the arc-shaped slide groove 2 of the semicircular rotating block 1, and the semicircular clamping block rotates in the semicircular rotating block The second arc-shaped slide groove rotates in the third arc-shaped slide groove, so that the semicircular clamping block fits tightly with the outside of the goods. After the goods are clamped and fixed, the universal motor is started to drive the reel to rotate, so that the rope lifts the goods under the lifting platform on the U-shaped lifting rod. When the lifting platform is lifted, the guide cylinder moves in the mounting circle on the tooling mounting plate to limit and guide the lifting platform. Through the clamping module, goods of different specifications and sizes can be stacked without replacing or adjusting the stacking robot. At the same time, it is easy to fix irregular objects, thereby improving the versatility of the stacking equipment, improving the efficiency of the stacking equipment, and reducing the user's production cost.

[0011] The stacking equipment, according to a clamping manipulator as described in any of the above, also includes a tooling moving plate, the upper sides of the two tooling moving plates are connected to a U-shaped gantry by bolts, one side of the two U-shaped gantries is connected to the same tooling guide rail by bolts, one side of the two tooling guide rails is provided with a guide circular hole, the side surfaces of the two tooling guide rails are fixedly connected with an electric drive rod 2, the driving end of the electric drive rod 2 passes through the guide circular hole and is fixedly connected to one side of the adjusting slider, one side of the adjusting slider is fixedly connected with an electric drive rod 1, and the driving end of the electric drive rod 1 is fixedly connected to one side of the moving support seat, the side of the lifting platform is connected with an armrest control panel by bolts, the interiors of the multiple mounting circular openings on the tooling mounting plate are annularly distributed with extrusion springs, and the other ends of the multiple extrusion springs on the same side are fixedly connected to the same U-shaped mounting frame, and circular holes 4 are equidistantly provided on both sides of the multiple U-shaped mounting frames, and the interiors of the two opposite circular holes 4 are connected with limit balls through bearings, and the outside of the limit balls is against the outside of the guide cylinder.

[0012] By arranging electric drive rod 1, electric drive rod 2, tooling guide rail, adjusting slider, mobile support seat, tooling limit rail, extrusion spring, U-shaped mounting frame, armrest control panel and limit ball, when palletizing the clamped and fixed goods, the electric drive rod 2 is started through the armrest control panel to drive the adjusting slider to move the tooling limit rail, and the electric drive rod 1 is driven to drive the mobile support seat to move in the tooling limit rail, so that the clamped goods can be palletized more accurately, and when the guide cylinder moves in the mounting circular opening on the tooling mounting plate, the extrusion spring uses its own elasticity to make the limit ball in the U-shaped mounting frame offset against the outside of the guide cylinder, and the contact area between the limit ball and the outside of the guide cylinder is small, thereby reducing the friction on the guide cylinder and increasing its service life.

[0013] From the above, it can be seen that the clamping robot provided by the present invention has the function of palletizing goods of different specifications and sizes, without the need to replace or adjust the palletizing robot, and is convenient for fixing irregular objects, thereby improving the versatility of the palletizing equipment, improving the efficiency of the palletizing equipment, and reducing the beneficial effect of user production costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 A schematic diagram of the structure of a clamping module of a clamping manipulator proposed by the present invention;

[0015] Figure 2 This is a partial structural schematic diagram of a clamping module of a clamping manipulator proposed by the present invention;

[0016] Figure 3 for Figure 2 A schematic diagram of the enlarged structure of part A;

[0017] Figure 4 This is a partial structural schematic diagram of a clamping module of a clamping manipulator proposed by the present invention;

[0018] Figure 5 This is a schematic diagram of the overall structure of a palletizing device proposed by the present invention;

[0019] Figure 6 A side structural schematic diagram of a palletizing device proposed by the present invention;

[0020] Figure 7 A schematic diagram of the structure of an extrusion spring for a palletizing device proposed by the present invention;

[0021] Figure 8 This is a schematic diagram of the tooling limit track structure of a palletizing device proposed by the present invention.

[0022] In the figure: 1. Tool moving plate; 2. U-shaped gantry; 3. Tool guide rail; 4. Tool limit rail; 5. Adjustment slide block; 6. Moving support seat; 7. Electric drive rod 1; 8. Electric drive rod 2; 9. Clamping module; 901. Tool installation plate; 902. Tool support frame; 903. Guide cylinder; 904. Lifting platform; 905. U-shaped lifting rod; 906. Slide slot; 907. Adjustment slide seat; 908. Rotation Shaft; 909, driving motor; 910, pushing circular plate; 911, pushing support rod; 912, eccentric cylinder; 913, universal motor; 914, winding disk; 915, rope; 916, L clamping rod; 917, clamping mounting block; 918, semicircular rotating block one; 919, semicircular rotating block two; 920, semicircular clamping block; 10, handrail control panel; 11, extrusion spring; 12, U-shaped mounting frame; 13, limit ball. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0024] A gripping robot disclosed in the present invention is mainly used in scenarios where existing palletizing equipment is difficult to palletize goods of different specifications and sizes, and it is often necessary to replace or adjust the palletizing robot in advance. In addition, the existing palletizing robot is not convenient for fixing irregular objects, resulting in poor versatility and low efficiency of the palletizing equipment, which increases the user's production cost.

[0025] Reference Figure 1-Figure 4A clamping robot comprises a clamping module 9, the clamping module 9 comprises a tooling mounting plate 901, and one side of the tooling mounting plate 901 is provided with mounting circular openings at equal distances, and the interiors of the plurality of mounting circular openings are all fixedly and slidably connected with guide cylinders 903, and one end of the plurality of guide cylinders 903 is fixedly connected with the same lifting platform 904, and the two sides of the lifting platform 904 are connected with the same U-shaped lifting rod 905 by bolts.

[0026] Reference Figure 1-Figure 4 A mounting opening is provided on one side of the tooling mounting plate 901, and round holes are provided on both sides of the mounting opening. The insides of the two round holes are connected to the same winding drum 914 through bearings. A mounting groove is provided on one side of the tooling mounting plate 901, and a universal motor 913 is fixedly connected to one side of the mounting groove. The driving end of the universal motor 913 is connected to one end of the winding drum 914 through a coupling. A rope 915 is wound on the outside of the winding drum 914, and one end of the rope 915 is fixedly connected to one side of the U-shaped lifting rod 905.

[0027] Reference Figure 1-Figure 4 One side of the lifting platform 904 is provided with sliding groove openings 906 at equal intervals, and the interiors of the multiple sliding groove openings 906 are slidably connected with adjusting slide seats 907, the multiple adjusting slide seats 907 are connected with L clamping rods 916 by bolts on the side away from the tooling mounting plate 901, and the other ends of the multiple L clamping rods 916 are connected with clamping mounting blocks 917 by bolts, and the sides of the multiple clamping mounting blocks 917 are provided with arc-shaped sliding grooves, and the interiors of the multiple arc-shaped sliding grooves are slidably connected with semicircular rotating blocks 918.

[0028] Reference Figure 1-Figure 4 The sides of the multiple semicircular rotating blocks 918 are each provided with two arc-shaped slide grooves 2, and the interiors of the multiple arc-shaped slide grooves 2 are each slidably connected with the semicircular rotating blocks 919; the sides of the multiple semicircular rotating blocks 919 are each provided with arc-shaped slide grooves 3, and the interiors of the multiple arc-shaped slide grooves 3 are each slidably connected with the semicircular clamping blocks 920.

[0029] Reference Figure 1-Figure 4 , multiple adjustment slides 907 are provided with circular holes 2 on the side facing the tooling mounting plate 901, and the interiors of the multiple circular holes 2 are connected to the rotating shaft 908 through bearings, and the lifting platform 904 is fixedly connected to the side facing the tooling mounting plate 901, and the driving end of the driving motor 909 is fixedly connected to a pushing circular plate 910, and the pushing circular plate 910 is provided with circular holes 3 at equal distances away from the center position of the circle, and the interiors of the multiple circular holes 3 are connected to eccentric cylinders 912 through bearings, and adjacent eccentric cylinders 912 and the outside of the rotating shaft 908 are movably connected to the same pushing support rod 911, and the upper side of the tooling mounting plate 901 is fixedly connected to the tooling support frame 902.

[0030] In a specific application scenario, when the goods are clamped by the clamping manipulator on the palletizing equipment, the driving motor 909 is started according to the size of the goods. The driving motor 909 drives the eccentric cylinder 912 on the pushing circular plate 910 to make the pushing support rod 911 drive the adjusting slide 907 to move inside the slide groove 906 on the lifting platform 904, so that the clamping mounting block 917 at one end of the L clamping rod 916 on the adjusting slide 907 moves to be suitable for the pre-palletized goods. At the same time, when the clamping mounting block 917 contacts the outside of the goods, the semicircular rotating block 1 918 rotates in the arc-shaped slide groove 1 of the clamping mounting block 917, and the semicircular rotating block 2 919 rotates in the arc-shaped slide groove 2 of the semicircular rotating block 1 918. 20 rotates in the arc-shaped slide groove three of the semicircular rotating block two 919, so that the semicircular clamping block 920 is closely fitted with the outside of the goods. After the goods are clamped and fixed, the universal motor 913 is started to drive the winding disk 914 to rotate, so that the rope 915 lifts the goods under the lifting platform 904 on the U-shaped lifting rod 905. When the lifting platform 904 is lifted, the guide cylinder 903 moves in the mounting circular opening on the tooling mounting plate 901 to limit and guide the lifting platform 904. Through the clamping module 9, goods of different specifications and sizes can be stacked without replacing or adjusting the stacking robot. At the same time, it is convenient to fix irregular objects, thereby improving the versatility of the stacking equipment, improving the efficiency of the stacking equipment, and reducing the production cost of users.

[0031] Reference Figure 1 , Figure 5 , Figure 6 , Figure 7 and Figure 8, the palletizing equipment, according to any one of the above-mentioned clamping manipulators, also includes a tooling moving plate 1, the upper sides of the two tooling moving plates 1 are connected to a U-shaped gantry 2 by bolts, one side of the two U-shaped gantries 2 is connected to the same tooling guide rail 3 by bolts, the insides of the two tooling guide rails 3 are slidably connected with an adjusting slider 5, and the opposite sides of the two adjusting sliders 5 are fixedly connected to the same tooling limiting rail 4, the inside of the tooling limiting rail 4 is slidably connected with a moving support seat 6, one side of the moving support seat 6 is fixedly connected to one side of the tooling support frame 902, one side of the two tooling guide rails 3 is provided with a guide circular hole, and the sides of the two tooling guide rails 3 are fixedly connected with an electric drive rod 8, and the electric drive rod 8 The driving end of 8 is fixedly connected to one side of the adjusting slider 5 through the guide circular hole, one side of one of the adjusting sliders 5 is fixedly connected to an electric driving rod 7, and the driving end of the electric driving rod 7 is fixedly connected to one side of the movable support seat 6, the side of the lifting platform 904 is connected to the armrest control panel 10 by bolts, the interiors of multiple mounting circular openings on the tooling mounting plate 901 are all annularly distributed with extrusion springs 11, and the other ends of multiple extrusion springs 11 on the same side are fixedly connected to the same U-shaped mounting frame 12, and circular holes four are evenly spaced on both sides of the multiple U-shaped mounting frames 12, the interiors of the two opposite circular holes four are connected to limiting ball bearings 13 through bearings, and the outside of the limiting ball bearings 13 is against the outside of the guide cylinder 903.

[0032] In a specific application scenario, when stacking the clamped goods, the electric drive rod 2 8 is started through the armrest control panel 10 to drive the adjusting slider 5 to move the tooling limit track 4, and the electric drive rod 1 7 is driven to drive the moving support seat 6 to move in the tooling limit track 4, so as to more accurately stack the clamped goods. When the guide cylinder 903 moves in the mounting circular opening on the tooling mounting plate 901, the extrusion spring 11 uses its own elasticity to make the limit ball 13 in the U-shaped mounting frame 12 counteract the outside of the guide cylinder 903, and the contact area between the limit ball 13 and the outside of the guide cylinder 903 is small, thereby reducing the friction on the guide cylinder 903 and increasing its service life.

[0033] Working principle: When the goods are clamped by the clamping manipulator on the palletizing device, the driving motor 909 is started according to the size of the goods, and the driving motor 909 drives the eccentric cylinder 912 on the push circular plate 910 to drive the push support rod 911 to drive the adjustment slide 907 to move inside the slide slot 906 on the lifting platform 904, so that the clamping mounting block 917 at one end of the L clamping rod 916 on the adjustment slide 907 moves to the pre-palletized goods, and at the same time, the clamping mounting block 917 is in contact with the outside of the goods. At this time, the semicircular rotating block 1 918 rotates in the arc groove 1 of the clamping mounting block 917, the semicircular rotating block 2 919 rotates in the arc groove 2 of the semicircular rotating block 1 918, and the semicircular clamping block 920 rotates in the arc groove 3 of the semicircular rotating block 2 919, so that the semicircular clamping block 920 is closely fitted with the outside of the cargo. After the cargo is clamped and fixed, the universal motor 913 is started to drive the winding disk 914 to rotate, so that the rope 915 lifts the cargo below the lifting platform 904 on the U-shaped lifting rod 905, and the lifting platform 904 During lifting, the guide cylinder 903 moves in the installation circular opening on the tooling installation plate 901 to limit and guide the lifting platform 904. Through the clamping module 9, the goods of different specifications and sizes can be stacked without replacing or adjusting the stacking robot. At the same time, it is convenient to fix irregular objects, improve the versatility of the stacking equipment, improve the efficiency of the stacking equipment, and reduce the production cost of users. When stacking the clamped and fixed goods, the electric drive rod 28 is started through the armrest control panel 10 to drive the adjustment slide Block 5 moves the tooling limit track 4, driving the electric drive rod 7 to drive the mobile support seat 6 to move in the tooling limit track 4, so as to more accurately stack the clamped goods. When the guide cylinder 903 moves in the mounting circular opening on the tooling mounting plate 901, the extrusion spring 11 uses its own elasticity to make the limit ball 13 in the U-shaped mounting frame 12 counteract the outside of the guide cylinder 903. The contact area between the limit ball 13 and the outside of the guide cylinder 903 is small, thereby reducing the friction on the guide cylinder 903 and increasing its service life.

[0034] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A gripping manipulator, comprising a gripping module (9), It is characterized in that The clamping module (9) comprises a tooling installation plate (901), and one side of the tooling installation plate (901) is provided with installation circular openings at equal distances, and the interiors of the plurality of installation circular openings are all fixedly and slidably connected with guide cylinders (903), and one end of the plurality of guide cylinders (903) is fixedly connected with the same lifting platform (904), and the two sides of the lifting platform (904) are connected with the same U-shaped lifting rod (905) by bolts; A mounting opening is provided on one side of the tooling mounting plate (901), and circular holes are provided on both sides of the mounting opening. The interiors of the two circular holes are connected to a same winding drum (914) via bearings. A mounting groove is provided on one side of the tooling mounting plate (901), and a universal motor (913) is fixedly connected to one side of the mounting groove. The driving end of the universal motor (913) is connected to one end of the winding drum (914) via a coupling. A rope (915) is wound on the outside of the winding drum (914), and one end of the rope (915) is fixedly connected to one side of the U-shaped lifting rod (905). One side of the lifting platform (904) is provided with sliding groove openings (906) at equal intervals, and the interiors of the plurality of sliding groove openings (906) are all slidably connected with adjustment slide seats (907), the sides of the plurality of adjustment slide seats (907) away from the tooling mounting plate (901) are all connected with L clamping rods (916) by bolts, the other ends of the plurality of L clamping rods (916) are all connected with clamping mounting blocks (917) by bolts, the sides of the plurality of clamping mounting blocks (917) are all provided with arc-shaped sliding grooves 1, and the interiors of the plurality of arc-shaped sliding grooves 1 are all slidably connected with semicircular rotating blocks 1 (918); The sides of the plurality of semicircular rotating blocks 1 (918) are each provided with two arc-shaped slide grooves 2, and the interiors of the plurality of arc-shaped slide grooves 2 are each slidably connected to the semicircular rotating blocks 2 (919); the sides of the plurality of semicircular rotating blocks 2 (919) are each provided with arc-shaped slide grooves 3, and the interiors of the plurality of arc-shaped slide grooves 3 are each slidably connected to the semicircular clamping blocks (920); A plurality of the adjusting slide seats (907) are provided with circular holes 2 on the side facing the tooling installation plate (901), and the interiors of the plurality of circular holes 2 are connected to rotating shafts (908) via bearings. A lifting platform (904) is fixedly connected to a driving motor (909) on the side facing the tooling installation plate (901), and a driving end of the driving motor (909) is fixedly connected to a pushing circular plate (910). The pushing circular plate (910) is provided with circular holes 3 at equal distances from the center of the circle, and the interiors of the plurality of circular holes 3 are connected to eccentric cylinders (912) via bearings. Adjacent eccentric cylinders (912) and the exteriors of the rotating shafts (908) are movably connected to the same pushing support rod (911), and the upper side of the tooling installation plate (901) is fixedly connected to a tooling support frame (902).

2. A palletizing device, comprising a gripping manipulator as claimed in claim 1, It is characterized in that It also comprises a tooling moving plate (1), characterized in that the upper sides of the two tooling moving plates (1) are connected to a U-shaped gantry (2) via bolts, and one side of the two U-shaped gantries (2) is connected to the same tooling guide rail (3) via bolts.

3. A palletizing device according to claim 2, It is characterized in that The insides of the two tooling guide rails (3) are both slidably connected to an adjusting slider (5), and the opposite sides of the two adjusting sliders (5) are fixedly connected to the same tooling limit rail (4), and the inside of the tooling limit rail (4) is slidably connected to a movable support seat (6), and one side of the movable support seat (6) is fixedly connected to one side of the tooling support frame (902).

4. A palletizing device according to claim 3, It is characterized in that A guide circular hole is provided on one side of the two tooling guide rails (3), and a second electric drive rod (8) is fixedly connected to the side of the two tooling guide rails (3), and a driving end of the second electric drive rod (8) passes through the guide circular hole and is fixedly connected to one side of the adjusting slider (5).

5. A palletizing device according to claim 4, It is characterized in that One side of one of the adjustment sliders (5) is fixedly connected to an electric drive rod (7), and the driving end of the electric drive rod (7) is fixedly connected to one side of the movable support seat (6), and the side of the lifting platform (904) is connected to an armrest control panel (10) via bolts.

6. A palletizing device according to claim 5, It is characterized in that The multiple installation circular openings on the tooling installation plate (901) are all provided with extrusion springs (11) distributed in a ring shape inside, and the other ends of the multiple extrusion springs (11) located on the same side are all fixedly connected to the same U-shaped installation frame (12), and four circular holes are evenly spaced on both sides of the multiple U-shaped installation frames (12), and the interiors of the two opposing four circular holes are both connected to limit ball bearings (13) through bearings, and the outside of the limit ball bearings (13) abuts against the outside of the guide cylinder (903).

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