Intelligent ceramic conveying demonstration terminal

Abstract

The invention relates to the technical field of ceramic conveying machinery, in particular to an intelligent ceramic conveying demonstration terminal, a programmable controller, a touch display device and a mechanical arm. The mechanical arm comprises a stand column, a first driving motor, an L-shaped block, a first connecting rod, a first driving rod, a first round tooth, a first driving block, a second driving rod, a second round tooth, a second connecting rod, a second driving block, a third driving rod, a third round tooth, a third connecting rod, a third driving block, a fourth round tooth, a connecting block, a driving gear, a first gear, a second gear and a first rotating rod which are connected in a matched mode. And a fourth connecting rod, a second rotating rod, a fifth connecting rod, a second driving motor, a first clamping block, a second clamping block and a third driving motor. The intelligent ceramic conveying demonstration terminal is convenient for students to operate and learn.

Description

Technical Field

[0001] The invention relates to the technical field of ceramic conveying machinery, and in particular to an intelligent ceramic conveying demonstration terminal. Background Art

[0002] Nowadays, with the development of automated machinery, in the field of ceramic production and manufacturing, more and more automated machinery is used in ceramic production, replacing manual labor, and the traditional ceramic production process has also changed, greatly improving production efficiency. Therefore, colleges and universities will also let students fully understand the working and operating principles of automated machinery during the teaching of ceramic manufacturing technology. At present, students are mainly taught through textbooks or videos to understand the working and operating principles of automated machinery, which is not intuitive enough. Summary of the invention

[0003] Therefore, in view of the above problems, the present invention proposes an intelligent ceramic conveying demonstration terminal to facilitate students' operation and learning.

[0004] To achieve the above object, the present invention adopts the following technical solutions: An intelligent ceramic conveying demonstration terminal, comprising a programmable controller, a touch display device, and a mechanical arm; The mechanical arm includes a column rotatably arranged on one side of the connecting plate, a first driving motor for driving the column to rotate, an L-shaped block arranged on the top of the column, a first connecting rod rotatably arranged on the side of the L-shaped block away from the column, a first driving rod rotatably arranged on the side of the L-shaped block away from the column, a first spherical tooth fixedly arranged on the side of the first driving rod away from the L-shaped block, a first driving block rotatably arranged at the first connecting rod and the bottom of the first driving rod, a second driving rod arranged at the bottom of the first driving block, a second spherical tooth arranged at the top of the second driving rod and meshing with the first spherical tooth, a second connecting rod arranged at the bottom of the first driving block, a second driving block arranged at the bottom of the second connecting rod and the second driving rod, a third driving rod arranged at the bottom of the second driving block, a third spherical tooth arranged at the bottom of the second driving rod, a third connecting rod arranged at the bottom of the second driving block, and a third connecting rod arranged at the bottom of the second driving block. The third driving block at the bottom of the three-link and the third driving rod, the fourth spherical tooth provided at the top of the third driving rod and meshing with the third spherical tooth, the connecting block provided at the bottom of the third driving block, the driving gear rotatably provided on the connecting block, the first gear rotatably provided on the connecting block and meshing with the driving gear, the second gear rotatably provided on the connecting block and meshing with the first gear, the first rotating rod provided on the first gear, the fourth connecting rod rotatably provided on one side of the bottom of the connecting block, the second rotating rod provided on the second gear, the fifth connecting rod provided on the other side of the bottom of the connecting block, the second driving motor for driving the driving gear to rotate, the first clamping block provided at the bottom of the first rotating rod and the fourth connecting rod, and the second clamping block provided at the bottom of the second rotating rod and the fifth connecting rod, wherein the L-shaped block is provided with a third driving motor for driving the first connecting rod to rotate; The first driving motor, the second driving motor, the third driving motor, and the touch display device are electrically connected to the programmable controller respectively.

[0005] Furthermore, the first driving rod and the second driving rod have the same length.

[0006] Furthermore, it also includes a conveying device and a connecting plate arranged on the conveying device, and the mechanical arm is arranged on the connecting plate.

[0007] Further, the conveying device includes a support frame, a plurality of transmission gears rotatably arranged on the support frame, a chain arranged outside each transmission gear, a guide rod arranged on the front and rear sides of the support frame, a guide sleeve slidably arranged outside the guide rod, a movable plate arranged between the front and rear guide sleeves, a guide groove arranged on the movable plate and slidably matched with the connecting plate, and a driving device for driving one of the transmission gears to rotate, and the connecting plate is connected to two holes of the built-in chain ring of the chain; The driving device is electrically connected to the programmable controller.

[0008] Furthermore, the driving device includes a T-shaped plate arranged below the support frame, a driving wheel rotatably arranged on the T-shaped plate, a first driving groove and a second driving groove arranged on the driving wheel, a transmission rod rotatably arranged on the T-shaped plate, a limiting plate slidably arranged on a side of the T-shaped plate away from the driving wheel, a connecting portion arranged on one side of the transmission rod and slidably connected to the first driving groove and the second driving groove, a sliding block rotatably arranged on a side of the transmission rod away from the connecting portion, a driving rack rotatably arranged on the driving wheel and slidably connected to the sliding block, a driving gear rotatably arranged on a side of the T-shaped plate away from the driving wheel, an avoidance groove arranged in the middle of the limiting plate and avoiding the driving gear, a latching tooth arranged at the top of the limiting plate, and a fourth driving motor for driving the driving wheel to rotate, wherein the first driving groove is close to the middle of the driving wheel, the second driving groove is close to the outer side of the driving wheel, and the top of the driving gear is connected to one of the transmission gears; The fourth driving motor is electrically connected to the programmable controller.

[0009] By adopting the above technical solution, the beneficial effects of the present invention are: The present invention is convenient for students to operate and learn, and students can burn programs into the programmable controller to control the mechanical arm and the conveying device to realize conveying and clamping. The conveying device drives the connecting plate to travel along the conveying device, and the second driving motor rotates, driving the driving gear to rotate, and the driving gear drives the meshing first gear and second gear to rotate, and the first rotating rod and the second rotating rod on the first gear and the second gear will rotate toward the middle, and the first clamping block and the second clamping block will be clamped after being guided by the fourth connecting rod and the fifth connecting rod. After completion, the third driving motor drives the first driving rod to rotate upward. After completion, the first clamping block and the second clamping block will clamp the clamped ceramic for transportation, and then the first driving motor drives the column to rotate 90° to the left, and then the third driving motor drives the first driving rod to rotate 90° downward. During the rotation of the first driving rod, the first connecting rod will also be driven to rotate. Since the first spherical tooth at the bottom of the first driving rod is meshed with the second spherical tooth, the first driving rod will drive the second driving rod to rotate at the same time through the second spherical tooth. The first drive rod and the second drive rod will be spread out 180°, and the first connecting rod will drive the second spherical tooth to rotate through the first spherical tooth, and the angle between the first connecting rod and the second connecting rod will gradually increase. The second drive rod and the second connecting rod will drive the third connecting rod to rotate through the second driving block at the bottom, and the angle between the third connecting rod and the second connecting rod will gradually increase. The third spherical tooth at the bottom of the second driving rod will drive the fourth spherical tooth and the third driving rod to rotate, and the second driving rod and the third driving rod will maintain 180° and move toward the ceramic placed below. The third driving rod will clamp the ceramic through the connecting block, the first clamping block and the second clamping block. The third driving motor will drive the first driving rod to rotate in the opposite direction, and the second driving rod and the third driving rod will follow the first driving rod to rotate in the opposite direction and rise at the same time. Then the first driving motor will drive the column to rotate 90° to the right, completing the clamping control conveying device to start conveying. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 This is a schematic diagram of the structure of the intelligent ceramic conveying demonstration terminal.

[0011] Figure 2 It is a partial structural diagram of the intelligent ceramic conveying demonstration terminal.

[0012] Figure 3 This is a schematic diagram of the partial structure of the robotic arm of this intelligent ceramic conveying demonstration terminal.

[0013] Figure 4 This is a front view schematic diagram of the mechanical arm structure of the intelligent ceramic conveying demonstration terminal.

[0014] Figure 5 It is a front view schematic diagram of the first clamping block and the second clamping block structure of the intelligent ceramic conveying demonstration terminal.

[0015] Figure 6 This is a structural schematic diagram of the first clamping block and the second clamping block of the intelligent ceramic conveying demonstration terminal.

[0016] Figure 7It is a front view schematic diagram of the driving device structure of the intelligent ceramic conveying demonstration terminal.

[0017] Figure 8 It is a schematic top view of the driving device structure of the intelligent ceramic conveying demonstration terminal.

[0018] Numbers in the figure: 1. Connecting plate; 4. Robotic arm; 6. Conveying device; 400, fourth round tooth; 401, column; 402, first drive motor; 403, L-shaped block; 404, first connecting rod; 405, first drive rod; 406, first round tooth; 407, first drive block; 408, second drive rod; 409, second round tooth; 410, second connecting rod; 411, second drive block; 412, third drive rod; 413, third round tooth; 414, third connecting rod; 415, third drive block; 416, connecting block; 417, driving gear; 418, first gear; 419, second gear; 420, first rotating rod; 421, fourth connecting rod; 422, second rotating rod; 423, fifth connecting rod; 424, second drive motor; 425, first clamping block; 426, second clamping block; 427, third drive motor; 601, support frame; 602, transmission gear; 603, chain; 604, guide rod; 605, guide sleeve; 606, movable plate; 607, guide groove; 608, T-plate; 609, driving wheel; 610, first driving groove; 611, second driving groove; 612, transmission rod; 613, limit plate; 614, connecting part; 615, slider; 616, driving rack; 617, driving gear; 618, avoidance groove; 619, latching tooth; 620, fourth driving motor. DETAILED DESCRIPTION

[0019] The present invention will now be further described with reference to the accompanying drawings and specific implementation methods.

[0020] refer to Figures 1 to 8 The present embodiment provides an intelligent ceramic conveying demonstration terminal, including a programmable controller, a touch display device, a connecting plate 1 arranged on a conveying device 6 and conveyed by the conveying device 6, and a robotic arm 4 arranged on one side of the connecting plate 1.

[0021] The mechanical arm 4 includes a column 401 rotatably arranged on one side of the connecting plate 1, a first driving motor 402 for driving the column 401 to rotate, an L-shaped block 403 arranged on the top of the column 401, a first connecting rod 404 rotatably arranged on the side of the L-shaped block 403 away from the column 401, a first driving rod 405 rotatably arranged on the side of the L-shaped block 403 away from the column 401, a first spherical tooth 406 fixedly arranged on the side of the first driving rod 405 away from the L-shaped block 403, and a first driving rod 406 rotatably arranged at the bottom of the first connecting rod 404 and the first driving rod 405. The first drive block 407 includes a second drive rod 408 disposed at the bottom of the first drive block 407, a second spherical tooth 409 disposed at the top of the second drive rod 408 and meshing with the first spherical tooth 406, a second connecting rod 410 disposed at the bottom of the first drive block 407, a second driving block 411 disposed at the bottom of the second connecting rod 410 and the second drive rod 408, a third driving rod 412 disposed at the bottom of the second driving block 411, a third spherical tooth 413 disposed at the bottom of the second driving rod 408, a third connecting rod 414 disposed at the bottom of the second driving block 411, and a third connecting rod 415 disposed at the bottom of the third connecting rod 416. The third driving block 415 at the bottom of the third driving rod 414 and the third driving rod 412, the fourth spherical tooth 400 provided at the top of the third driving rod 412 and meshing with the third spherical tooth 413, the connecting block 416 provided at the bottom of the third driving block 415, the driving gear 417 rotatably provided on the connecting block 416, the first gear 418 rotatably provided on the connecting block 416 and meshing with the driving gear 417, the second gear 419 rotatably provided on the connecting block 416 and meshing with the first gear 418, the first rotating rod 420 provided on the first gear 418, A fourth connecting rod 421 is movably arranged on one side of the bottom of the connecting block 416, a second rotating rod 422 is arranged on the second gear 419, a fifth connecting rod 423 is arranged on the other side of the bottom of the connecting block 416, a second driving motor 424 is used to drive the driving gear 417 to rotate, a first clamping block 425 is arranged at the bottom of the first rotating rod 420 and the fourth connecting rod 421, and a second clamping block 426 is arranged at the bottom of the second rotating rod 422 and the fifth connecting rod 423. The L-shaped block 403 is provided with a third driving motor 427 for driving the first connecting rod 404 to rotate.

[0022] The first driving motor 402 , the second driving motor 424 , the third driving motor 427 , and the touch display device are electrically connected to the programmable controller respectively.

[0023] The conveying device 6 includes a support frame 601, a plurality of transmission gears 602 rotatably arranged on the support frame 601, a chain 603 arranged on the outside of each transmission gear 602, a guide rod 604 arranged on the front and rear sides of the support frame 601, a guide sleeve 605 slidably arranged on the outside of the guide rod 604, a movable plate 606 arranged between the front and rear guide sleeves 605, a guide groove 607 arranged on the movable plate 606 and slidingly matched with the connecting plate 1, and a driving device for driving one of the transmission gears 602 to rotate, and the connecting plate 1 is connected to the two holes of the built-in chain ring of the chain 603 (not shown in the figure, but those skilled in the art should understand the chain ring and the setting method of the two holes).

[0024] The driving device includes a T-shaped plate 608 disposed below the support frame 601, a driving wheel 609 rotatably disposed on the T-shaped plate 608, a first driving groove 610 and a second driving groove 611 disposed on the driving wheel 609, a transmission rod 612 rotatably disposed on the T-shaped plate 608, a limit plate 613 slidably disposed on the side of the T-shaped plate 608 away from the driving wheel 609, a connecting portion 614 disposed on one side of the transmission rod 612 and slidably connected to the first driving groove 610 and the second driving groove 611, a slider 615 rotatably disposed on the side of the transmission rod 612 away from the connecting portion 614, and a slider 616 rotatably disposed on the driving wheel 609. A driving rack 616 on the moving wheel 609 and slidably connected to the slider 615, a driving gear 617 rotatably arranged on the side of the T-shaped plate 608 away from the driving wheel 609, an avoidance groove 618 arranged in the middle of the limiting plate 613 and avoiding the driving gear 617, a latch tooth 619 arranged at the top of the limiting plate 613, and a fourth driving motor 620 for driving the driving wheel 609 to rotate, wherein the first driving groove 610 is close to the middle of the driving wheel 609, the second driving groove 611 is close to the outside of the driving wheel 609, and the top of the driving gear 617 is connected to one of the transmission gears 602.

[0025] The fourth driving motor 620 is electrically connected to the programmable controller.

[0026] The transmission rod 612 is connected to the limiting plate 613 at one side away from the connecting portion 614. When the driving device is running, the fourth driving motor 620 drives the driving wheel 609 to rotate. At this time, the connecting portion 614 on one side of the transmission rod 612 is connected to the second driving groove 611, and the slider 615 on the other side of the transmission rod 612 is close to the driving gear 617. During the rotation of the driving wheel 609, the driving rack 616 is driven to move from one side to the other side. The driving rack 616 will drive the driving gear 617 to rotate. The rotation of the driving gear 617 drives the transmission gear 602 and the chain 603 rotates, when the driving wheel 609 rotates half a circle, the connecting part 614 on one side of the transmission rod 612 is connected to the first driving groove 610, and the transmission rod 612 drives the slider 615 to move toward the side away from the driving gear 617, and at the same time drives the limit plate 613 to move downward, and the locking tooth 619 on the top of the limit plate 613 contacts the driving gear 617, and the connecting plate 1 on the chain 603 moves to the top of the ceramic that needs to be clamped and conveyed. As the driving wheel 609 continues to rotate half a circle, when the connecting plate 1 stays above the ceramic, the mechanical arm 4 on the connecting plate 1 clamps the ceramic.

[0027] The driving device drives one of the transmission gears 602 to rotate, and the transmission gear 602 drives the chain 603 to rotate. During the rotation of the chain 603, the connecting plate 1 is driven to move. During the transverse movement, since the guide groove 607 of the movable plate 606 is placed at the bottom of the connecting plate 1, when the chain 603 drives the connecting plate 1 to move transversely, the movable plate 606 guides and supports the connecting plate 1. When passing the positions of the two transmission gears 602 on the far right, the connecting plate 1 will rotate 180° as the chain 603 rotates. After completion, when the connecting plate 1 passes near the top of the ceramic, the driving device stops rotating, and then the connecting plate 1 moves to the top of the ceramic and then stops moving. During the stopping process, the robotic arm 4 clamps the ceramic.

[0028] In this solution, the conveying device 6 drives the connecting plate 1 to move, the second driving motor 424 rotates, driving the driving gear 417 to rotate, the driving gear 417 drives the meshing first gear 418 and the second gear 419 to rotate, the first rotating rod 420 and the second rotating rod 422 on the first gear 418 and the second gear 419 will rotate toward the middle, and the first clamping block 425 and the second clamping block 426 will clamp the ceramic placed at the bottom (not shown in the figure) after being guided by the fourth connecting rod 421 and the fifth connecting rod 423. After completion, the third driving motor 427 drives the first driving rod 405 to rotate upward, and completion After the first clamping block 425 and the second clamping block 426 are completed, the ceramic will be transferred. Then the first driving motor 402 will drive the column 401 to rotate 90 degrees to the left. The L-shaped block 403, the first clamping block 425 and the second clamping block 426 will be located above the ceramic. Then the third driving motor 427 will drive the first driving rod 405 to rotate 90 degrees downward. During the rotation of the first driving rod 405, the first connecting rod 404 will be driven to rotate accordingly. Since the first spherical teeth 406 at the bottom of the first driving rod 405 are meshed with the second spherical teeth 409, the first driving rod 405 will rotate while the belt is transferred through the second spherical teeth 409. The second driving rod 408 is driven to rotate simultaneously, the first driving rod 405 and the second driving rod 408 will be unfolded to 180 degrees, and at the same time, the first connecting rod 404 drives the second spherical tooth 409 to rotate through the first spherical tooth 406, and the angle between the first connecting rod 404 and the second connecting rod 410 gradually increases. The second driving rod 408 and the second connecting rod 410 drive the third connecting rod 414 to rotate through the second driving block 411 at the bottom, and the angle between the third connecting rod 414 and the second connecting rod 410 gradually increases. The third spherical tooth 413 at the bottom of the second driving rod 408 drives the fourth spherical tooth 400 and the third driving rod 412 to rotate. The second driving rod 408 and the third driving rod 412 will maintain 180° and move toward the ceramic placed below, the third driving rod 412 will clamp the ceramic through the connecting block 416, the first clamping block 425 and the second clamping block 426, the third driving motor 427 drives the first driving rod 405 to rotate in the opposite direction, the second driving rod 408 and the third driving rod 412 will follow the first driving rod 405 and rotate in the opposite direction and rise at the same time, the ceramic at the bottom of the third driving rod 412 rises, and then the first driving motor 402 drives the column 401 to rotate 90° to the right, completing the clamping control conveying device 6 to start conveying.

[0029] The first driving rod 405 and the second driving rod 408 have the same length, and the length of the third driving rod 412 can be customized. Compared with the existing multi-motor driven mechanical arm or screw rod structure, this structure occupies less space.

[0030] The invention is convenient for students to operate and learn. Students can burn programs into the programmable controller to control the first drive motor 402, the second drive motor 424, and the third drive motor 427 to control the robot arm 4 to achieve clamping, and control the fourth drive motor 620 to achieve conveying by the conveying device.

[0031] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0032] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0033] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0034] Although the present invention has been specifically shown and described in conjunction with the preferred embodiments, it should be understood by those skilled in the art that various changes may be made to the present invention in form and details without departing from the spirit and scope of the present invention as defined by the appended claims, all of which are within the scope of protection of the present invention.

Claims

1. An intelligent ceramic conveying demonstration terminal, characterized in that: It includes a programmable controller, a touch display device, and a robotic arm (4); The mechanical arm (4) comprises a column (401) rotatably arranged on one side of the connecting plate (1), a first driving motor (402) for driving the column (401) to rotate, an L-shaped block (403) arranged on the top of the column (401), a first connecting rod (404) rotatably arranged on a side of the L-shaped block (403) away from the column (401), a first driving rod (405) rotatably arranged on a side of the L-shaped block (403) away from the column (401), a first scallop (406) fixedly arranged on a side of the first driving rod (405) away from the L-shaped block (403), and a first driving rod (406) rotatably arranged on the bottom of the first connecting rod (404) and the first driving rod (405). a first driving block (407), a second driving rod (408) disposed at the bottom of the first driving block (407), a second scallop (409) disposed at the top of the second driving rod (408) and meshing with the first scallop (406), a second connecting rod (410) disposed at the bottom of the first driving block (407), a second driving block (411) disposed at the bottom of the second connecting rod (410) and the second driving rod (408), a third driving rod (412) disposed at the bottom of the second driving block (411), a third scallop (413) disposed at the bottom of the second driving rod (408), a third connecting rod (414) disposed at the bottom of the second driving block (411), and a third connecting rod (415) disposed at the bottom of the third connecting rod (416). a third driving block (415) disposed at the bottom of the third driving rod (414) and the third driving rod (412); a fourth spherical tooth (400) disposed at the top of the third driving rod (412) and meshing with the third spherical tooth (413); a connecting block (416) disposed at the bottom of the third driving block (415); a driving gear (417) rotatably disposed on the connecting block (416); a first gear (418) rotatably disposed on the connecting block (416) and meshing with the driving gear (417); a second gear (419) rotatably disposed on the connecting block (416) and meshing with the first gear (418); a first rotating rod (420) disposed on the first gear (418); Rotating a fourth connecting rod (421) provided at one side of the bottom of the connecting block (416), a second rotating rod (422) provided on the second gear (419), a fifth connecting rod (423) provided at the other side of the bottom of the connecting block (416), a second driving motor (424) for driving the driving gear (417) to rotate, a first clamping block (425) provided at the bottom of the first rotating rod (420) and the fourth connecting rod (421), and a second clamping block (426) provided at the bottom of the second rotating rod (422) and the fifth connecting rod (423), wherein a third driving motor (427) for driving the first connecting rod (404) to rotate is provided on the L-shaped block (403); The first drive motor (402), the second drive motor (424), the third drive motor (427), and the touch display device are electrically connected to the programmable controller respectively.

2. The intelligent ceramic conveying demonstration terminal according to claim 1 is characterized in that: The first driving rod (405) and the second driving rod (408) have the same length.

3. The intelligent ceramic conveying demonstration terminal according to claim 1 is characterized in that: It also comprises a conveying device (6) and a connecting plate (1) arranged on the conveying device (6), and the mechanical arm (4) is arranged on the connecting plate (1).

4. The intelligent ceramic conveying demonstration terminal according to claim 3 is characterized in that: The conveying device (6) comprises a support frame (601), a plurality of transmission gears (602) rotatably arranged on the support frame (601), a chain (603) arranged outside each transmission gear (602), a guide rod (604) arranged on the front and rear sides of the support frame (601), a guide sleeve (605) slidably arranged outside the guide rod (604), a movable plate (606) arranged between the front and rear guide sleeves (605), a guide groove (607) arranged on the movable plate (606) and slidably matched with the connecting plate (1), and a driving device for driving one of the transmission gears (602) to rotate, wherein the connecting plate (1) is connected to two holes of a chain link built in the chain (603); The driving device is electrically connected to the programmable controller.

5. The intelligent ceramic conveying demonstration terminal according to claim 4 is characterized in that: The driving device comprises a T-shaped plate (608) arranged below the support frame (601), a driving wheel (609) rotatably arranged on the T-shaped plate (608), a first driving groove (610) and a second driving groove (611) arranged on the driving wheel (609), a transmission rod (612) rotatably arranged on the T-shaped plate (608), a limit plate (613) slidably arranged on a side of the T-shaped plate (608) away from the driving wheel (609), a connecting portion (614) arranged on one side of the transmission rod (612) and slidably connected to the first driving groove (610) and the second driving groove (611), a sliding block (615) rotatably arranged on a side of the transmission rod (612) away from the connecting portion (614), and a sliding block (616) rotatably arranged on the driving wheel (609). a driving rack (616) on the driving wheel (609) and slidably connected to the slider (615), a driving gear (617) rotatably arranged on the side of the T-shaped plate (608) away from the driving wheel (609), an avoidance groove (618) arranged in the middle of the limiting plate (613) and avoiding the driving gear (617), a latching tooth (619) arranged at the top of the limiting plate (613), and a fourth driving motor (620) for driving the driving wheel (609) to rotate, wherein the first driving groove (610) is close to the middle of the driving wheel (609), the second driving groove (611) is close to the outer side of the driving wheel (609), and the top of the driving gear (617) is connected to one of the transmission gears (602); The fourth driving motor (620) is electrically connected to the programmable controller.

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