Intelligent system for jack metrological verification

Abstract

The invention relates to the technical field of metrological verification, and discloses an intelligent system for jack metrological verification, the system comprises a detected object detection module, a jack metrological verification module, a carrying module and an analysis module, the detected object detection module detects a detected object to obtain detection data; analyzing the detection data through an analysis module, judging whether the detected object can be detected or not, and analyzing the detection data of the detected object which can be detected to obtain position parameters; then the detected object on the detected object detection module is carried to the jack through the carrying module; and finally, metering detection is carried out through the jack metering verification module. The jack metrological verification module automatically analyzes the detected object, judges whether the detected object can be verified or not, and prevents the detected object from being damaged due to non-uniform stress of the detected object in the verification process of the jack metrological verification module due to position deviation according to the position parameters of the detected object placed on the movable workbench through the carrying module.

Description

Technical Field

[0001] The invention relates to the technical field of metrology verification, and in particular to an intelligent system for metrology verification of jacks. Background Art

[0002] The jack metrological verification device is a device that can perform metrological verification on the force, stability, safety and other aspects of the object being measured. It is an indispensable tool in many engineering and industrial inspections.

[0003] When measuring and calibrating the object to be measured, the object to be measured is placed on the jack, and then the top plate directly above the jack is moved downward so that the calibration unit below the top plate contacts the object to be measured, and then the jack is started, and the calibration unit performs calibration to obtain the force value of the object to be measured.

[0004] However, when the jack metrological calibration device is measuring and calibrating the object to be measured, it is necessary to select a suitable placement position according to the size and shape of the object to be measured to ensure that it can be stably placed in the calibration device; the bottom surface of the object to be measured should be parallel to the support surface of the calibration device to ensure uniform distribution of force; it should also ensure that the pressure is evenly distributed on the contact surface of the object to be measured to avoid local overload; while ordinary jack metrological calibration devices require manual adjustment of the position of the object to be measured, and manual adjustment of the position of the object to be measured is prone to incorrect placement, which may cause uneven force distribution, thereby introducing measurement errors and affecting the accuracy of the test results; the object to be measured is not placed stably, and moves or tilts during the calibration process, causing damage to the calibration device or the object to be measured itself; improper placement may lead to accidents during the calibration process, the object to be measured may slip or components of the calibration device may be damaged, increasing the safety risk of the operator; if the placement position is inconsistent during each calibration, the repeatability of the test results will be poor, affecting the comparability of the data; equipment damage or invalid calibration results caused by improper placement may increase the cost of maintenance and re-calibration. Summary of the invention

[0005] The purpose of the present invention is to provide an intelligent system for jack metrology verification to solve the following technical problems:

[0006] How to automatically detect whether the object to be measured can be calibrated, and automatically place the object to be measured at the accurate position of the jack measurement and calibration device to avoid damage to the object to be measured during the calibration process.

[0007] The purpose of the present invention can be achieved through the following technical solutions:

[0008] An intelligent system for jack metrological verification, the system comprising:

[0009] The object detection module is used to detect the object and obtain detection data;

[0010] A jack metrology and verification module is used to perform metrology and detection on the object to be measured; the jack metrology and verification module includes a mobile workbench and a jack fixedly arranged on the mobile workbench;

[0011] A transport module, disposed between the object detection module and the mobile workbench, and used for transporting the object on the detection module to the mobile workbench;

[0012] The analysis module is used to analyze the detection data of the object to be tested, determine whether the object to be tested can be tested, and analyze the detection data of the object to be tested that is judged to be able to be tested, and obtain the position parameters of the object to be tested placed on the mobile workbench.

[0013] As a further solution of the present invention: the object detection module includes a weighing base, a detection unit arranged directly above the weighing base, and a support rod No. 1 arranged between the weighing base and the detection unit.

[0014] As a further solution of the present invention: the detection data includes the shape and weight of the object being detected.

[0015] As a further solution of the present invention: the analysis process of the analysis module is:

[0016] S1: Establish a three-dimensional model of the object to be measured according to its shape, and mark the bottom and top surfaces of the three-dimensional model;

[0017] S2: Analyze the three-dimensional model to obtain the top view and bottom view of the three-dimensional model; mark the top surface in the top view; mark the bottom surface in the bottom view, overlap the top view and the bottom view, and obtain the overlapping part of the top surface and the bottom surface; determine whether the overlapping part is parallel to the bottom surface, if so, proceed to step S3: if not, the object to be tested cannot be calibrated; proceed to S5;

[0018] S3: Obtain information data of the top surface, bottom surface and overlapping parts of the three-dimensional model;

[0019] S4: Analyze the information data of the top surface, the bottom surface, the overlapping part and the weight of the object to be measured to obtain a judgment index; and judge whether the object to be measured can be calibrated according to the judgment index. If it can be calibrated, go to step S6; if it cannot be calibrated, go to step S5;

[0020] S5: The measured object is removed from the weighing base by the transport module, and the next measured object is replaced, and the process goes to step S1;

[0021] S6: by analyzing the three-dimensional model, finding the center point of the overlapping part of the bottom surface, and corresponding the center point of the overlapping part to the position parameter of the center point of the moving workbench;

[0022] S7: The object to be measured is transported from the weighing base to the mobile workbench by the transport module, so that the center point of the overlapping part of the bottom surface is located at the center point of the mobile workbench.

[0023] As a further solution of the present invention: the jack measurement and verification module also includes:

[0024] A first base, the movable workbench is slidably arranged on the first base;

[0025] A plurality of No. 2 support rods, wherein the lower ends of the No. 2 support rods are fixedly arranged at one end of the first base;

[0026] An automatic top plate is arranged parallel to one end of the first base and connected to the second support rod;

[0027] A calibration unit, used for calibrating the object to be measured;

[0028] A push-pull rod, fixedly arranged at one end of the mobile workbench away from the second support rod;

[0029] The push-pull rod control unit is arranged on a side of the mobile workbench away from the second support rod and is fixedly connected to the first base; and is used to drive the push-pull rod to move.

[0030] As a further solution of the present invention: the judgment index is obtained by the formula:

[0031] P=f(G0-G S )f(H C -H max )f(S CD -S0)

[0032] Calculate the judgment index P;

[0033] Where, f(X) is the judgment function. When X≥0, f(X)=1; when X<0, f(X)=0; G0 is the rated weight of the jack; G S is the weight of the object being measured; H C H is the height of the overlapping part of the top surface; max is the maximum height of the top surface; S CD is the area of ​​the overlapping part; S0 is the preset area.

[0034] As a further solution of the present invention: the process of judging whether the test can be performed according to the judgment index is as follows:

[0035] When P = 1, the object under test can be calibrated;

[0036] When P=0, the object being tested cannot be calibrated.

[0037] As a further solution of the present invention: the handling module includes a second base, a rotating platform rotatably arranged on the second base, a mechanical arm fixedly arranged on the rotating platform, and a grabbing unit arranged on the mechanical arm.

[0038] Beneficial effects of the present invention:

[0039] (1) The present invention detects the object to be tested through the object detection module and obtains detection data; analyzes the detection data of the object to be tested through the analysis module to determine whether the object to be tested can be calibrated, and analyzes the detection data of the object to be tested that is determined to be able to be calibrated to obtain the position parameters of the object to be tested placed on the mobile workbench; then the object to be tested on the object detection module is transported to the jack through the transport module; finally, the object to be tested on the jack is metrologically tested through the jack metrology and calibration module; the object to be tested is automatically analyzed to determine whether it can be calibrated, and the position parameters of the object to be tested placed on the mobile workbench through the transport module to prevent the object to be tested from being damaged due to uneven force on the object to be tested during the calibration process of the jack metrology and calibration module.

[0040] (2) The present invention first establishes a three-dimensional model of the object to be measured according to its shape, and marks the bottom and top surfaces of the three-dimensional model; obtains information data of the top surface, bottom surface and overlapping part by analyzing the three-dimensional model; obtains a judgment index by analyzing the information data of the top surface, bottom surface, overlapping part and the weight of the object to be measured; and judges whether the object to be measured can be calibrated according to the judgment index. If it can be calibrated, the center point of the overlapping part of the bottom surface is found out by analyzing the three-dimensional model, and the position parameters of the center point of the overlapping part are corresponding to the center point of the mobile workbench; finally, the object to be measured is transported from the weighing base to the mobile workbench by the transport module, so that the center point of the overlapping part of the bottom surface is located at the center point of the mobile workbench, so as to prevent the object to be measured from being damaged due to uneven force during the calibration process of the jack measurement calibration module due to position offset. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The present invention will be further described below in conjunction with the accompanying drawings.

[0042] Figure 1 The main structure of an embodiment of the present invention is shown in FIG. Figure 1 ;

[0043] Figure 2 The main structure of an embodiment of the present invention is shown in FIG. Figure 2 ;

[0044] Figure 3 The figure is a schematic diagram of the structure of a jack metrology and verification module according to an embodiment of the present invention.

[0045] Description of the drawings: 1. Detection module for the object to be measured; 11. Weighing base; 12. Detection unit; 13. Support rod No. 1; 2. Jack metrology and calibration module; 21. Mobile workbench; 22. Jack; 23. Base; 24. Support rod No. 2; 25. Automatic top plate; 26. Calibration unit; 27. Push-pull rod; 28. Push-pull rod control unit; 3. Transport module; 31. Second base; 32. Rotating platform; 33. Robotic arm; 34. Grasping unit. DETAILED DESCRIPTION

[0046] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0047] See also Figure 1-Figure 2 As shown, in one embodiment, an intelligent system for jack metrology verification is provided, the system comprising:

[0048] The object detection module 1 is used to detect the object and obtain detection data;

[0049] The jack metrology verification module 2 is used to perform metrology detection on the object to be measured; the jack metrology verification module 2 includes a mobile workbench 21 and a jack 22 fixedly arranged on the mobile workbench 21;

[0050] The transport module 3 is arranged between the object detection module 1 and the mobile workbench 21, and is used to transport the object on the detection module to the mobile workbench 21;

[0051] An analysis module is used to analyze the detection data of the object to be detected, determine whether the object to be detected can be detected, and analyze the detection data of the object to be detected that is determined to be capable of being detected, and obtain the position parameters of the object to be detected placed on the mobile workbench 21;

[0052] Through the above technical scheme, this embodiment detects the object to be measured through the object detection module 1 and obtains the detection data; analyzes the detection data of the object to be measured through the analysis module to determine whether the object to be measured can be calibrated, and analyzes the detection data of the object to be measured that is judged to be able to be calibrated, and obtains the position parameters of the object to be measured placed on the mobile workbench 21; then the object to be measured on the object detection module 1 is transported to the jack 22 through the conveying module 3; finally, the object to be measured on the jack 22 is measured and detected through the jack metrology and calibration module 2; the object to be measured is automatically analyzed to determine whether it can be calibrated, and the position parameters of the object to be measured placed on the mobile workbench 21 are determined through the conveying module 3 to prevent the object to be measured from being damaged due to uneven force on the object to be measured during the calibration process of the jack metrology and calibration module 2 due to position offset.

[0053] See also Figure 2 As shown, as an embodiment of the present invention, the object detection module 1 includes a weighing base 11, a detection unit 12 arranged directly above the weighing base 11, and a No. 1 support rod 13 arranged between the weighing base 11 and the detection unit 12; the detection data includes the shape and weight of the object to be measured;

[0054] Through the above technical solution, in this embodiment, the object to be measured is placed on the weighing base 11, and the No. 1 support rod 13 is used to support the detection unit 12. The detection unit 12 is a laser contour scanner, which can obtain the shape of the object to be measured by scanning the object to be measured; the weighing base 11 obtains the weight of the object to be measured;

[0055] As an implementation mode of the present invention, the analysis process of the analysis module is:

[0056] S1: Establish a three-dimensional model of the object to be measured according to its shape, and mark the bottom and top surfaces of the three-dimensional model;

[0057] S2: Analyze the three-dimensional model to obtain the top view and bottom view of the three-dimensional model; mark the top surface in the top view; mark the bottom surface in the bottom view, overlap the top view and the bottom view, and obtain the overlapping part of the top surface and the bottom surface; determine whether the overlapping part is parallel to the bottom surface, if so, proceed to step S3: if not, the object to be tested cannot be calibrated; proceed to S5;

[0058] S3: Obtain information data of the top surface, bottom surface and overlapping parts by analyzing the three-dimensional model;

[0059] S4: Analyze the information data of the top surface, the bottom surface, the overlapping part and the weight of the object to be measured to obtain a judgment index; and judge whether the object to be measured can be calibrated according to the judgment index. If it can be calibrated, go to step S6; if it cannot be calibrated, go to step S5;

[0060] S5: The object to be measured is removed from the weighing base 11 by the transport module 3, and the next object to be measured is replaced, and the process goes to step S1;

[0061] S6: by analyzing the three-dimensional model, finding the center point of the overlapping part of the bottom surface, and corresponding the center point of the overlapping part to the position parameter of the center point of the moving workbench 21;

[0062] S7: The object to be measured is transported from the weighing base 11 to the movable workbench 21 by the transport module 3 , so that the center point of the overlapping part of the bottom surface is located at the center point of the movable workbench 21 .

[0063] Through the above technical scheme, this embodiment first establishes a three-dimensional model of the object to be measured according to the shape of the object to be measured, and marks the bottom and top surfaces of the three-dimensional model; the ratio of the three-dimensional model to the object to be measured is 1:1; then, by analyzing the three-dimensional model, a top view and a bottom view of the three-dimensional model are obtained; the top surface is marked in the top view; the bottom surface is marked in the bottom view, the top view and the bottom view are overlapped, and the overlapping part of the top and bottom surfaces is obtained; it is determined whether the overlapping part is parallel to the bottom surface. If not, the object to be measured is moved out of the weighing base 11 by the transport module 3; if they are parallel, the information data of the top surface, the bottom surface and the overlapping part are obtained by analyzing the three-dimensional model; The information data of the top, bottom and overlapping parts and the weight of the object to be measured are analyzed to obtain a judgment index; and according to the judgment index, it is judged whether the object to be measured can be calibrated. If it cannot be calibrated, the object to be measured is moved out of the weighing base 11 through the transport module 3; if it can be calibrated, the center point of the overlapping part of the bottom surface is found out by analyzing the three-dimensional model. The specific acquisition process is the existing technology and will not be described in detail here; the center point of the overlapping part corresponds to the position parameter of the center point of the mobile workbench 21; finally, the object to be measured is transported from the weighing base 11 to the mobile workbench 21 through the transport module 3, so that the center point of the overlapping part of the bottom surface is located at the center point of the mobile workbench 21.

[0064] See also Figure 2-Figure 3 As shown, as an embodiment of the present invention, the jack measurement and verification module 2 also includes:

[0065] A first base 23, on which the movable workbench 21 is slidably disposed;

[0066] A plurality of second support rods 24, wherein the lower ends of the second support rods 24 are fixedly disposed at one end of the first base 23;

[0067] An automatic top plate 25 is arranged parallel to and above one end of the first base 23 and connected to the second support rod 24;

[0068] A verification unit 26, used for verifying the object under test;

[0069] A push-pull rod 27, fixedly arranged at one end of the mobile workbench 21 away from the second support rod 24;

[0070] The push-pull rod control unit 28 is arranged on a side of the mobile workbench 21 away from the second support rod 24 and is fixedly connected to the first base 23; and is used to drive the push-pull rod 27 to move;

[0071] Through the above technical scheme, the push-pull rod control unit 28 of this embodiment drives the mobile workbench 21 to move to one side of the transport module 3 on the first base 23 in the direction away from the second support rod 24 by controlling the push-pull rod 27. The transport module 3 transports the object to be measured from the weighing base 11 to the corresponding position parameter on the mobile workbench 21. The push-pull rod control unit 28 is started, and the push-pull rod control unit 28 drives the push-pull rod 27 to move the mobile workbench 21 in the direction of the automatic upper plate 25 to the calibration position. When the mobile workbench 21 reaches the calibration position, the center point of the mobile workbench 21 is located directly below the calibration unit 26. The automatic upper plate 25 is started, and the automatic upper plate 25 can automatically move downward along the second support rod 24, so that the calibration unit 26 contacts the overlapping part of the top surface of the object to be measured, and the jack 22 is started, so that the calibration unit 26 calibrates the object to be measured, so that the overlapping part of the top surface of the object to be measured is located directly below the calibration unit 26; to ensure the calibration effect;

[0072] It should be noted that the verification unit 26 is a prior art and will not be described in detail here.

[0073] As an embodiment of the present invention, the judgment index is obtained by the formula:

[0074] P=f(G0-G S )f(H C -H max )f(S CD -S0)

[0075] Calculate the judgment index P;

[0076] Wherein, f(X) is a judgment function, when X≥0, f(X)=1; when X<0, f(X)=0; G0 is the rated weight of the jack 22; G S is the weight of the object being measured; H C H is the height of the overlapping part of the top surface; max is the maximum height of the top surface; S CD is the area of ​​the overlapping part; S0 is the preset area;

[0077] The process of judging whether the test can be performed according to the judgment index is as follows:

[0078] When P = 1, the object under test can be calibrated;

[0079] When P = 0, the object being tested cannot be calibrated;

[0080] Through the above technical solution, this embodiment G0-G S is the difference between the rated weight and the weight of the object being measured. S <0, it means that the weight of the object being measured exceeds the rated weight of the jack 22, which may cause damage to the jack 22, so the calibration cannot be performed; when G0-G S When ≥0, it means that the weight of the object being measured does not exceed the rated weight of the jack 22, and the calibration can be carried out; H C -H max is the difference between the height of the overlapping part of the top surface and the maximum height of the top surface; when H C -H max <0, it means that the overlapped part of the top surface is lower than the other parts of the top surface. When the jack measurement verification module 2 is calibrated, the automatic upper plate 25 cannot contact the overlapped part of the top surface, so that when the automatic upper plate 25 and the jack 22 are squeezed, the object being measured is unstable and easily overturned and damaged, so the calibration cannot be performed; when H C -H max When ≥0, it means that the overlapped part of the top surface is not lower than the other parts of the top surface. Therefore, when the automatic top plate 25 is squeezed by the jack 22, the automatic top plate 25 contacts the overlapped part of the top surface. When squeezed, it is not easy to overturn, and the object being measured is relatively stable. CD -S0 is the difference between the area of ​​the overlapped part and the preset area; when S CD -S0<0, it means that the area of ​​the overlapped part is smaller than the preset area. The overlapped part is too small. Under the same force, the pressure is too large, which may cause damage to the object being tested. Therefore, the test cannot be performed. CD When -S0≥0, it means that the area of ​​the overlapping part is greater than or equal to the preset area, and the area of ​​the overlapping part is too large. Under the same force, the pressure received is within the preset range, so the test can be performed; therefore, when G0-G S ≥0 and H C -H max ≥0 and S CD -When S0≥0, that is, when P=1, the object under test can be calibrated; otherwise, the object under test cannot be calibrated.

[0081] It should be noted that the rated weight G0 and the preset area S0 of the jack 22 are preset values, which are obtained based on experience and will not be described in detail here; the weight G0 of the object to be measured S , the height H of the overlapping part of the top surface C , the maximum height H of the top surface max and the area S of the overlapping part CDThe specific acquisition method is obtained according to the three-dimensional model, which is a prior art and will not be described in detail here.

[0082] As an embodiment of the present invention, the transport module 3 includes a second base 31, a rotating platform 32 rotatably arranged on the second base 31, a mechanical arm 33 fixedly arranged on the rotating platform 32, and a grabbing unit 34 arranged on the mechanical arm 33;

[0083] Through the above technical scheme, the rotating platform 32 of this embodiment is connected to the controller, and the controller controls the rotation angle of the rotating platform 32. The gripping unit 34 is driven by the mechanical arm 33 to grip the object to be measured on the weighing base 11, and the center point of the overlapping part of the bottom surface of the object to be measured is placed at the center point of the mobile workbench 21; the specific operation process of the mechanical arm 33 and the gripping unit 34 placing the center point of the overlapping part of the bottom surface of the object to be measured at the center point of the mobile workbench 21 is the existing technology and will not be described in detail here.

[0084] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. An intelligent system for jack metrology verification, characterized in that: The system comprises: The object detection module (1) is used to detect the object and obtain detection data; A jack metrology verification module (2) is used to perform metrology detection on a measured object; the jack metrology verification module (2) comprises a mobile workbench (21) and a jack (22) fixedly arranged on the mobile workbench (21); A transport module (3) is arranged between the object detection module (1) and the movable workbench (21) and is used to transport the object on the detection module to the movable workbench (21); The analysis module is used to analyze the detection data of the detected object, determine whether the detected object can be tested, and analyze the detection data of the detected object whose judgment result is that it can be tested, so as to obtain the position parameters of the detected object placed on the mobile workbench (21).

2. The intelligent system for jack metrology verification according to claim 1 is characterized in that: The measured object detection module (1) comprises a weighing base (11), a detection unit (12) arranged directly above the weighing base (11), and a first support rod (13) arranged between the weighing base (11) and the detection unit (12).

3. The intelligent system for jack metrology verification according to claim 2 is characterized in that: The detection data includes the shape and weight of the detected object.

4. The intelligent system for jack metrology verification according to claim 3 is characterized in that: The analysis process of the analysis module is: S1: Establish a three-dimensional model of the object to be measured according to its shape, and mark the bottom and top surfaces of the three-dimensional model; S2: Analyze the three-dimensional model to obtain the top view and bottom view of the three-dimensional model; mark the top surface in the top view; mark the bottom surface in the bottom view, overlap the top view and the bottom view, and obtain the overlapping part of the top surface and the bottom surface; determine whether the overlapping part is parallel to the bottom surface, if so, proceed to step S3: if not, the object to be tested cannot be calibrated; proceed to S5; S3: Obtain information data of the top surface, bottom surface and overlapping parts of the three-dimensional model; S4: Analyze the information data of the top surface, the bottom surface, the overlapping part and the weight of the object to be measured to obtain a judgment index; and judge whether the object to be measured can be calibrated according to the judgment index. If it can be calibrated, go to step S6; if it cannot be calibrated, go to step S5; S5: The object to be measured is removed from the weighing base (11) by the transport module (3), and the next object to be measured is replaced, and the process proceeds to step S1; S6: by analyzing the three-dimensional model, finding the center point of the overlapping part of the bottom surface, and corresponding the center point of the overlapping part to the position parameter of the center point of the movable workbench (21); S7: The object to be measured is transported from the weighing base (11) to the movable workbench (21) by the transport module (3), so that the center point of the overlapping part of the bottom surface is located at the center point of the movable workbench (21).

5. The intelligent system for jack metrology verification according to claim 4 is characterized in that: The jack metrology verification module (2) further comprises: A first base (23), the movable workbench (21) being slidably arranged on the first base (23); A plurality of No. 2 support rods (24), wherein the lower ends of the No. 2 support rods (24) are fixedly arranged on one end of the first base (23); An automatic top plate (25) is arranged parallel to and above one end of the first base (23) and is connected to the second support rod (24); A verification unit (26), used for verifying the object to be tested; A push-pull rod (27) is fixedly arranged at one end of the movable workbench (21) away from the second support rod (24); The push-pull rod control unit (28) is arranged on a side of the movable workbench (21) away from the second support rod (24) and is fixedly connected to the first base (23); and is used to drive the push-pull rod (27) to move.

6. The intelligent system for jack metrology verification according to claim 5 is characterized in that: The judgment index is obtained by the formula: P=f(G0-G S )f(H C -H max )f(S CD -S0) Calculate the judgment index P; Wherein, f(X) is a judgment function, when X≥0, f(X)=1; when X<0, f(X)=0; G0 is the rated weight of the jack (22); G S is the weight of the object being measured; G C is the height of the overlapping part of the top surface; G max is the maximum height of the top surface; S CD is the area of ​​the overlapping part; S0 is the preset area.

7. The intelligent system for jack metrology verification according to claim 6 is characterized in that: The process of judging whether the test can be performed according to the judgment index is as follows: When P = 1, the object under test can be calibrated; When P=0, the object being tested cannot be calibrated.

8. The intelligent system for jack metrology verification according to claim 7 is characterized in that: The transport module (3) comprises a second base (31), a rotating platform (32) rotatably arranged on the second base (31), a mechanical arm (33) fixedly arranged on the rotating platform (32), and a grasping unit (34) arranged on the mechanical arm (33).

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