Integrated full-automatic assembly line for carrying, scanning, positioning and welding end sockets

Abstract

The invention relates to the technical field of seal head processing, in particular to an integrated full-automatic assembly line for carrying, scanning, positioning and welding seal heads, which comprises two groups of identical processing parts for transporting, positioning, scanning and welding the seal heads, and each group of processing part comprises a first conveying frame and a second conveying frame which are respectively used for conveying the seal heads and accessories on the seal heads; the material frame is arranged between the first conveying frame and the second conveying frame and used for placing machining accessories; the two groups of positioning tools are symmetrically distributed between the first conveying frame and the second conveying frame and are used for clamping and positioning the end socket; the grabbing robot is arranged between the two sets of positioning tools and used for taking and placing the end socket machining accessories; the material claw is mounted on the grabbing robot and is used for carrying out grabbing work; the industrial scanning camera is mounted on the grabbing robot and is used for scanning; and the two groups of welding robots are respectively arranged on one sides of the two groups of positioning tools and are used for carrying out welding work.

Description

Technical Field

[0001] The invention relates to the technical field of end cap processing, in particular to an integrated full-automatic production line for conveying, scanning, positioning and welding end caps. Background Art

[0002] In modern manufacturing, as an integral part of key components such as pressure vessels and piping systems, the production process of end caps has strict requirements on precision and efficiency. Traditional end cap production processes rely heavily on manual operations, which have problems such as inaccurate positioning, unstable welding quality, and low production efficiency. With the development of industrial automation, more and more companies have begun to introduce robotics and automated assembly lines to improve the efficiency and quality of end cap production. However, processes such as handling, scanning, positioning, and welding are often completed on different equipment, resulting in a complex overall process and increased material handling time and cost. Secondly, traditional fixtures are difficult to achieve high-precision workpiece positioning, which affects the quality of subsequent welding. In addition, existing equipment has poor adaptability to ends of different specifications and shapes, and requires frequent adjustment or replacement of tooling, which reduces the versatility and efficiency of the production line.

[0003] In this regard, the present invention proposes an integrated fully automatic production line for transporting, scanning, positioning and welding of end caps to solve this problem. Summary of the invention

[0004] The object of the present invention is to solve at least one of the technical drawbacks.

[0005] To this end, an object of the present invention is to propose an integrated fully automatic production line for transporting, scanning, positioning and welding of end caps, so as to solve the problems mentioned in the background technology and overcome the deficiencies in the prior art.

[0006] In order to achieve the above-mentioned objectives, an embodiment of one aspect of the present invention provides an integrated fully automatic assembly line for the transportation, scanning, positioning and welding of head seals, including: two groups of identical processing parts, used for the transportation, positioning, scanning and welding of head seals, a single group of the processing parts includes: a first conveyor frame and a second conveyor frame, respectively used to convey the head seal and its accessories; a material rack, arranged between the first conveyor frame and the second conveyor frame, for placing the processed accessories; two groups of positioning tooling, symmetrically distributed between the first conveyor frame and the second conveyor frame, for clamping and positioning the head seal; a grasping robot, arranged between the two groups of positioning tooling, for picking up and placing the head seal processing accessories; a material claw, installed on the grasping robot, for grasping; an industrial scanning camera, installed on the grasping robot for scanning; two groups of welding The robots are respectively arranged on one side of the two sets of positioning tooling and are used for welding work; the welding head is installed on the welding robot; the handling part serves the two sets of processing parts, including: a base, used for the bottom support of the handling part, and a rack is installed on the base; a slide frame is arranged on the base; a drive motor is installed on the slide frame, and a first gear is installed on the output end of the drive motor, and the first gear is meshed with the rack; a handling robot is installed on the slide frame and is used to carry materials on the first conveyor frame and the second conveyor frame; a clamping assembly is installed at one end of the handling robot and is used to clamp and fix the material; the handling robot cooperates with the grasping robot to stack the material on the positioning tooling, and after the processing is completed, the finished product is removed from the positioning tooling by the handling robot.

[0007] Preferably, any of the above schemes is that a single group of the positioning tooling includes: a support frame, which is the main support of the seat positioning tooling; a flip frame, which is installed on the support frame, and a first motor is installed in the flip frame; a support frame, both ends of which are equipped with side brackets, and the side brackets are rotatably arranged on the flip frame, one of the side brackets is installed on the output end of the first motor, a through hole is opened on the support frame, and a protective shell is installed on the top of the support frame; a rotating ring, which is rotatably arranged in the protective shell, and a first fixed clamping block is installed on the rotating ring; a first electric push rod, and a first moving clamping block is installed on its output shaft.

[0008] Preferably, any of the above schemes includes: a single set of the positioning tooling further comprising: a support plate, mounted at one end of the rotating ring, and the first electric push rod mounted on the support plate; a second motor, mounted in the support frame, a second gear mounted at the output end of the second motor, and the second gear being placed in a protective shell; and a gear ring, mounted at the bottom of the rotating ring, the gear ring being meshed with the second gear.

[0009] Preferably, the grasping robot and the welding robot are composed of the same structure, both comprising: a frame as a bottom support; a first base mounted on the frame; a first rotating part rotatably arranged on the first base; a first swing arm part rotatably arranged on the first rotating part; a second swing arm part rotatably arranged on the first swing arm part; a second rotating part rotatably arranged on the second swing arm part; a third swing arm part rotatably arranged on the second rotating part; and each moving part is configured to be driven by a servo motor.

[0010] Preferably, any of the above schemes is that the first rotating part is driven to rotate by a servo motor; the first swing arm part is driven to swing by a servo motor; the second swing arm part is configured with three servo motors, which are respectively used for its own swing, driving the second rotating part to rotate through a transmission rod, and driving the third swing arm part to swing.

[0011] Preferably, the transport robot comprises: a second base, mounted on the base; a third rotating part, rotatably arranged on the second base; a fourth swing arm part, rotatably arranged on the third rotating part; a fifth swing arm part, rotatably arranged on the fourth swing arm part; a fourth rotating part, rotatably arranged on the fourth swing arm part; a sixth swing arm part, rotatably arranged on the fourth rotating part; and each moving part is configured with a servo motor drive.

[0012] Preferably, any of the above schemes is that the third rotating part is driven to rotate by a servo motor; the fourth swing arm part is configured with three servo motors, which are respectively used for swinging itself, driving the fourth rotating part to rotate through a transmission rod, and driving the sixth swing arm part to swing.

[0013] Preferably, the clamping assembly comprises: a positioning ring, one end of which is equipped with a fixed block, which is installed on the sixth swing arm portion; a second fixed clamping block, installed in the positioning ring; a second electric push rod, installed on the positioning ring through a connecting block; and a second dynamic clamping block, installed at the output end of the second electric push rod.

[0014] Preferably, any of the above schemes is that there are two second fixed clamping blocks, which are symmetrically distributed in the positioning ring; there are two second electric push rods, and there are also two connecting blocks connected thereto, which are symmetrically distributed; there are two second moving clamping blocks, which are respectively connected to the two second electric push rods; a through hole is provided on the positioning ring, and the output shaft of the second electric push rod is movable in the through hole; a guide rod is installed at one end of the moving clamping block, and the guide rod is slidably arranged on the positioning ring.

[0015] Preferably, any of the above schemes is that a guide rail is installed on the top of the base; and a guide block is installed on the bottom of the slide frame, and the guide block is slidably arranged on the guide rail.

[0016] Compared with the prior art, the present invention has the following advantages and beneficial effects: 1. Integrating the functions of handling, scanning, positioning and welding into a compact assembly line simplifies the process, reduces intermediate links and improves production efficiency.

[0017] 2. Through two sets of positioning tooling and the industrial scanning camera on the grasping robot, accurate positioning of the head and its accessories is achieved; at the same time, the application of the welding robot ensures the accuracy of the welding position, improves the welding quality and consistency, and can flexibly adjust the working parameters of each module according to specific needs. It is suitable for the production of heads of various specifications and shapes, and enhances the adaptability of the production line. The design of the positioning tooling takes into account the rotation and translation functions, which can meet the processing requirements of different angles and positions.

[0018] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which: Figure 1 A three-dimensional schematic diagram according to an embodiment of the present invention; Figure 2 A schematic diagram of a transport unit according to an embodiment of the present invention; Figure 3 According to the embodiment of the present invention Figure 2 The enlarged schematic diagram at A in the middle; Figure 4 This is a schematic diagram of installing a handling robot according to an embodiment of the present invention; Figure 5 According to the embodiment of the present invention Figure 4 The enlarged schematic diagram of point B in the middle; Figure 6 A partial schematic diagram according to an embodiment of the present invention; Figure 7 A schematic diagram of the installation of a seat frame according to an embodiment of the present invention; Figure 8 A schematic diagram of installing an industrial inspection camera according to an embodiment of the present invention; Fig. 9 This is a schematic diagram of the installation of a welding head according to an embodiment of the present invention; Fig.10 A schematic diagram of a positioning tool according to an embodiment of the present invention; Fig.11 This is a schematic diagram of the installation of a support plate according to an embodiment of the present invention; Fig.12 Schematic diagram of gear ring connection according to an embodiment of the present invention.

[0020] In the figure: 1, processing unit, 11, first conveyor frame, 12, second conveyor frame, 13, material frame, 14, positioning tool, 1401, support frame, 1402, flip frame, 1403, first motor, 1404, support frame, 1405, side bracket, 1406, rotating ring, 1407, first fixed clamping block, 1408, first electric push rod, 1409, first moving clamping block, 1410, second motor, 1411, second gear, 1412, gear ring, 1413, support plate, 15, grabbing robot, 1501, material claw, 1502, industrial scanning camera, 16, welding robot, 1601, welding head, 101, seat frame, 102, first base, 103, first rotating part, 104, first A swing arm part, 105, a second swing arm part, 106, a second rotating part, 107, a third swing arm part, 2, a transport part, 21, a base, 2101, a guide rail, 22, a rack, 23, a slide frame, 2301, a guide block, 24, a driving motor, 25, a first gear, 26, a transport robot, 2601, a second base, 2602, a third rotating part, 2603, a fourth swing arm part, 2604, a fifth swing arm part, 2605, a fourth rotating part, 2606, a sixth swing arm part, 27, a clamping assembly, 2701, a positioning ring, 2702, a fixed block, 2703, a second fixed clamping block, 2704, a second electric push rod, 2705, a second movable clamping block, 2706, a guide rod. DETAILED DESCRIPTION

[0021] like Figures 1 to 12 As shown, an integrated fully automatic production line for transporting, scanning, positioning and welding of end caps comprises: a processing part 1 and a transporting part 2.

[0022] Furthermore, the processing part 1 is provided with two groups, and the two groups have the same structure, which are used for transporting, positioning, scanning and welding the head. A single group of the processing part 1 includes: The first conveying rack 11 and the second conveying rack 12 are used to convey the end cap and accessories thereon respectively; A material rack 13, provided between the first conveying rack 11 and the second conveying rack 12, for placing processing accessories; Two sets of positioning fixtures 14 are symmetrically distributed between the first conveying frame 11 and the second conveying frame 12, and are used to clamp and position the end cap; The grabbing robot 15 is arranged between the two sets of positioning fixtures 14 and is used for picking up and placing the head processing accessories; Material claw 1501, installed on the grasping robot 15, used for grasping work; An industrial scanning camera 1502, mounted on the grasping robot 15, for scanning; Two groups of welding robots 16 are respectively arranged on one side of the two groups of positioning tools 14 for performing welding work; The welding head 1601 is installed on the welding robot 16 .

[0023] Specifically, a single set of the positioning tooling 14 includes: Support frame 1401, the main support of the seat positioning tool 14; A turning frame 1402 is installed on the supporting frame 1401, and a first motor 1403 is installed in the turning frame 1402; A support frame 1404, with side brackets 1405 installed at both ends, the side brackets 1405 are rotatably arranged on the flip frame 1402, one of the side brackets 1405 is installed at the output end of the first motor 1403, a through hole is opened on the support frame 1404, and a protective shell is installed on the top of the support frame 1404; A rotating ring 1406 is rotatably disposed in the protective shell, and a first fixed clamping block 1407 is installed on the rotating ring 1406; A first electric push rod 1408, on the output shaft of which a first movable clamp 1409 is mounted; The single set of positioning tooling 14 also includes: A support plate 1413 is mounted on one end of the rotating ring 1406 , and the first electric push rod 1408 is mounted on the support plate 1413 ; A second motor 1410 is installed in the support frame 1404. A second gear 1411 is installed at the output end of the second motor 1410. The second gear 1411 is placed in a protective shell. The gear ring 1412 is installed at the bottom of the rotating ring 1406. The gear ring 1412 is meshed with the second gear 1411. The second motor 1410 drives the second gear 1411 to rotate. The second gear 1411 drives the gear ring 1412 meshed with the gear ring 1412 to rotate, thereby driving the rotating ring 1406 to rotate and driving the workpiece thereon to rotate. The grabbing robot 15 and the welding robot 16 have the same structure, and both include: A seat frame 101, serving as a bottom support; A first base 102 is mounted on the base frame 101; A first rotating part 103, rotatably disposed on the first base 102; A first swing arm portion 104, rotatably disposed on the first rotating portion 103; The second swing arm portion 105 is rotatably disposed on the first swing arm portion 104; A second rotating portion 106, rotatably disposed on the second swing arm portion 105; A third swing arm portion 107, rotatably disposed on the second rotating portion 106; Each moving part is equipped with a servo motor drive; The first rotating part 103 is driven to rotate by a servo motor; The first swing arm portion 104 is driven to swing by a servo motor; The second swing arm portion 105 is equipped with three servo motors, which are respectively used for swinging itself, driving the second rotating portion 106 to rotate through the transmission rod, and driving the third swing arm portion 107 to swing.

[0024] Specifically, when welding the finished head, the finished product is mostly composed of a bottom ring and a cover, wherein the cover is often provided with a hole for installing the valve, and this hole needs to be welded with a small ring-shaped part. Combined with the present device, the first conveyor frame 11 and the second conveyor frame 12 are respectively used to convey the cover and the bottom ring, the transporting part 2 is used to transport them, the grasping robot 15 is used to transport the small ring-shaped parts, and the industrial scanning camera 1502 is used to locate the hole opened on the cover.

[0025] Furthermore, the transporting section 2 serves two groups of processing sections 1, including: A base 21 is used for bottom support of the transporting part 2, and a rack 22 is mounted on the base 21; A sliding frame 23 is provided on the base 21; A driving motor 24 is mounted on the slide frame 23. A first gear 25 is mounted on the output end of the driving motor 24. The first gear 25 is meshed with the rack 22. A handling robot 26, mounted on the slide frame 23, for handling materials on the first conveying frame 11 and the second conveying frame 12; A clamping assembly 27, mounted at one end of the handling robot 26, for clamping and fixing materials; The handling robot 26 cooperates with the grasping robot 15 to stack the materials on the positioning fixture 14, and after the processing is completed, the finished product is removed from the positioning fixture 14 by the handling robot 26; Specifically, the transport robot 26 includes: The second base 2601 is mounted on the base 21; The third rotating part 2602 is rotatably disposed on the second base 2601; The fourth swing arm portion 2603 is rotatably disposed on the third rotating portion 2602; The fifth swing arm portion 2604 is rotatably disposed on the fourth swing arm portion 2603; The fourth rotating part 2605 is rotatably disposed on the fourth swing arm part 2603; The sixth swing arm portion 2606 is rotatably disposed on the fourth rotating portion 2605; Each moving part is equipped with a servo motor drive; The third rotating part 2602 is driven to rotate by a servo motor; The fourth swing arm 2603 is equipped with three servo motors, which are used for swinging itself, driving the fourth rotating part 2605 to rotate through the transmission rod, and driving the sixth swing arm 2606 to swing; The clamping assembly 27 comprises: A positioning ring 2701, one end of which is mounted with a fixing block 2702, the fixing block 2702 being mounted on the sixth swing arm portion 2606; The second fixed clamp block 2703 is installed in the positioning ring 2701; The second electric push rod 2704 is mounted on the positioning ring 2701 through a connecting block; The second movable clamp 2705 is installed at the output end of the second electric push rod 2704; There are two second clamping blocks 2703, which are symmetrically distributed inside the positioning ring 2701; There are two second electric push rods 2704, and two connecting blocks connected thereto, which are symmetrically distributed; There are two second movable clamping blocks 2705, which are respectively connected to the two second electric push rods 2704; The positioning ring 2701 is provided with a through hole, through which the output shaft of the second electric push rod 2704 can move; A guide rod 2706 is installed at one end of the second movable clamping block 2705. The guide rod 2706 is slidably arranged on the positioning ring 2701. The setting of the guide rod 2706 limits the movement trajectory of the movable clamping block. A guide rail 2101 is installed on the top of the base 21; A guide block 2301 is installed at the bottom of the slide frame 23 . The guide block 2301 is slidably disposed on the guide rail 2101 . The cooperation between the guide block 2301 and the guide rail 2101 is used to limit the movement trajectory of the slide frame 23 .

[0026] The integrated fully automatic production line for transporting, scanning, positioning and welding of end caps has the following working principle: The workpieces required for the finished end cap are transported separately by the first conveyor rack 11 and the second conveyor rack 12; The materials on the first conveyor rack 11 and the second conveyor rack 12 are sequentially conveyed to the positioning tool 14 by the conveying assembly; The transport assembly moves as follows: the first gear 25 is driven to rotate by the driving motor 24, and the first gear 25 moves on the rack 22. Since the rack 22 is fixed, the first gear 25 rotates and moves on the rack 22, thereby driving the slide frame 23 to move. The movement of the third rotating part 2602, the fourth swing arm part 2603, the fifth swing arm part 2604, the fourth rotating part 2605 and the sixth swing arm part 2606 drives the clamping assembly 27 to be placed on the workpiece, and the second movable clamping block 2705 is driven to move to the position of the second fixed clamping block 2703 by the second electric push rod 2704 until the workpiece is clamped between the second fixed clamping block 2703 and the second movable clamping block 2705. Then, the workpiece is transported to the rotating ring 1406 by the transport robot 26, and then the clamping of the workpiece is released and the transport assembly is withdrawn. When the workpiece at the bottom is placed on the rotating ring 1406 in the positioning fixture 14, the first movable clamping block 1409 is driven to move by the first electric push rod 1408, and the first movable clamping block 1409 moves to the position of the first fixed clamping block 1407 until the workpiece is clamped between the first movable clamping block 1409 and the first fixed clamping block 1407. The side bracket 1405 is driven to rotate by the first motor 1403, which can drive the flip frame 1402 to flip half a circle, so that welding can be carried out on the other side. The second gear 1411 is driven by the second motor 1410, and the second gear 1411 drives the gear ring 1412 to rotate, which can drive the rotating ring 1406 to rotate, and then drive the workpiece to rotate. The first motor 1403 and the second motor 1410 are used in coordination to perform all-round processing on the workpiece. The required parts are grabbed by the claw 1501 and moved by the handling robot 26. During this process, the position of the parts (hole position on the main workpiece) is scanned by the industrial scanning camera 1502 to achieve precise positioning; The welding robot 16 drives the welding head 1601 to weld the workpiece.

Claims

1. An integrated fully automatic production line for transporting, scanning, positioning and welding of end caps, characterized by: include: Two sets of identical processing parts are used for transporting, positioning, scanning and welding the heads. Each set of the processing parts includes: The first conveying rack and the second conveying rack are used for conveying the end cap and accessories thereon respectively; A material rack, arranged between the first conveying rack and the second conveying rack, for placing processing accessories; Two sets of positioning fixtures are symmetrically distributed between the first conveying frame and the second conveying frame, and are used to clamp and position the end cap; The grabbing robot is located between the two sets of positioning fixtures and is used to pick up and place the head processing accessories; Material claw, installed on the grasping robot, used for grasping work; Industrial scanning camera, mounted on a gripper robot for scanning; Two groups of welding robots are respectively arranged on one side of the two groups of positioning tooling for performing welding work; A welding head, mounted on the welding robot; The handling department serves two processing departments, including: A base, used for bottom support of the transport part, with a rack mounted on the base; A sliding frame, arranged on the base; A driving motor is mounted on the sliding frame, wherein a first gear is mounted on the output end of the driving motor, and the first gear is meshed with the rack; A handling robot, mounted on the sliding frame, for handling materials on the first conveying frame and the second conveying frame; A clamping assembly, installed at one end of the handling robot, for clamping and fixing materials; The handling robot cooperates with the grasping robot to stack the materials on the positioning fixture, and after the processing is completed, the finished product is removed from the positioning fixture by the handling robot.

2. The integrated fully automatic assembly line for transporting, scanning, positioning and welding of end caps according to claim 1 is characterized in that: A single set of positioning tooling includes: Support frame, the main support of the seat positioning tooling; A turning frame, mounted on the supporting frame, wherein a first motor is installed in the turning frame; A support frame, with side brackets installed at both ends, the side brackets are rotatably arranged on the flip frame, one of the side brackets is installed at the output end of the first motor, a through hole is opened on the support frame, and a protective shell is installed on the top of the support frame; A rotating ring, rotatably disposed in the protective shell, and a first fixed clamping block is installed on the rotating ring; The first electric push rod has a first movable clamp installed on its output shaft.

3. The integrated fully automatic assembly line for transporting, scanning, positioning and welding of end caps according to claim 2 is characterized in that: A single set of positioning tooling also includes: A support plate is mounted on one end of the rotating ring, and the first electric push rod is mounted on the support plate; A second motor is installed in the support frame, a second gear is installed at the output end of the second motor, and the second gear is placed in the protective shell; The gear ring is installed at the bottom of the rotating ring, and the gear ring is meshed with the second gear.

4. The integrated fully automatic assembly line for transporting, scanning, positioning and welding of end caps according to claim 1 is characterized in that: The grasping robot and the welding robot have the same structural composition, both comprising: The seat frame, which serves as the bottom support; A first base, mounted on the seat frame; A first rotating part, rotatably arranged on the first base; A first swing arm portion, rotatably disposed on the first rotating portion; A second swing arm portion, rotatably disposed on the first swing arm portion; A second rotating part, rotatably arranged on the second swing arm part; a third swing arm portion, rotatably disposed on the second rotating portion; Each moving part is equipped with a servo motor drive.

5. The integrated fully automatic production line for transporting, scanning, positioning and welding of end caps according to claim 4 is characterized in that: The first rotating part is driven to rotate by a servo motor; The first swing arm portion is driven to swing by a servo motor; The second swing arm part is equipped with three servo motors, which are respectively used for swinging itself, driving the second rotating part to rotate through the transmission rod, and driving the third swing arm part to swing.

6. The integrated fully automatic assembly line for transporting, scanning, positioning and welding of end caps according to claim 1 is characterized in that: The transport robot comprises: A second base, mounted on the base; A third rotating part, rotatably arranged on the second base; a fourth swing arm portion, rotatably disposed on the third rotating portion; a fifth swing arm portion, rotatably disposed on the fourth swing arm portion; A fourth rotating portion, rotatably disposed on the fourth swing arm portion; a sixth swing arm portion, rotatably disposed on the fourth rotating portion; Each moving part is equipped with a servo motor drive.

7. The integrated fully automatic assembly line for transporting, scanning, positioning and welding of end caps according to claim 6 is characterized in that: The third rotating part is driven to rotate by a servo motor; The fourth swing arm part is equipped with three servo motors, which are respectively used for swinging itself, driving the fourth rotating part to rotate through the transmission rod, and driving the sixth swing arm part to swing.

8. The integrated fully automatic assembly line for transporting, scanning, positioning and welding of end caps according to claim 1 is characterized in that: The clamping assembly comprises: A positioning ring, one end of which is provided with a fixing block, the fixing block being installed on the sixth swing arm portion; The second fixed clamp block is installed in the positioning ring; The second electric push rod is installed on the positioning ring through a connecting block; The second movable clamp is installed at the output end of the second electric push rod.

9. The integrated fully automatic assembly line for transporting, scanning, positioning and welding of end caps according to claim 8 is characterized in that: There are two second fixed clamping blocks, which are symmetrically distributed in the positioning ring; There are two second electric push rods in total, and there are also two connecting blocks connected thereto, which are symmetrically distributed; There are two second movable clamping blocks, which are respectively connected to the two second electric push rods; The positioning ring is provided with a through hole, through which the output shaft of the second electric push rod can move; A guide rod is installed at one end of the movable clamp block, and the guide rod is slidably arranged on the positioning ring.

10. The integrated fully automatic assembly line for transporting, scanning, positioning and welding of end caps according to claim 1 is characterized in that: A guide rail is installed on the top of the base; A guide block is installed at the bottom of the sliding frame, and the guide block is slidably arranged on the guide rail.

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