Artificial intelligence Internet of Things intelligent loading system

Abstract

The invention relates to the technical field of material transfer equipment, in particular to an artificial intelligence internet-of-things intelligent loading system which comprises a loading area, a first roller conveyor and a truss manipulator, and the loading area is used for parking a vehicle to be loaded; the first roller conveyor is used for conveying bagged goods to be loaded to the loading area; the truss mechanical arm is arranged in the loading area and used for transferring bagged goods on the first roller way conveyor to a vehicle, and a gripper is installed at the tail end of the truss mechanical arm. The gripper comprises a mounting frame and at least one supporting claw, and the mounting frame is rotationally connected with the tail end of the manipulator; the at least one supporting claw is rotationally connected to the bottom of the mounting frame, each supporting claw is provided with a plurality of claw bodies which are arranged at intervals, and the gap between every two adjacent claw bodies is adjustable. The contact area of the supporting claws and the bottoms of the bagged goods can be increased, so that the flatness of the bottoms of the bagged goods is improved, jumping of the bagged goods after falling is reduced, and then the stability and the loading efficiency of the loading process are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of material transfer equipment, and in particular to an artificial intelligence Internet of Things smart loading system. Background Art

[0002] As an important part of modern logistics automation, the automatic loading system has been rapidly developed and applied in recent years. It is mainly used in scenarios such as centralized stacking of goods, automatic loading and unloading, and dispatching management, aiming to meet the growing logistics needs by improving logistics operation efficiency, reducing costs, and enhancing logistics safety.

[0003] When stacking bagged goods, traditional automatic loading systems usually use a combination of a rake-like manipulator and a roller conveyor. Due to the design characteristics of the rake-like manipulator and its gap structure, the force-bearing position at the bottom of the bagged goods becomes uneven. In this case, if the bagged goods are directly thrown and stacked one by one, it is easy to cause the stacking to be unstable, and in severe cases, it may even cause the risk of stacking collapse. The above problems not only affect the stability of the loading process, but also restrict the further improvement of the loading efficiency. In view of the above problems, the present invention proposes an automatic loading system with high stability and high loading efficiency. Summary of the invention

[0004] The purpose of the present invention is to provide an artificial intelligence Internet of Things smart loading system to solve the problems raised in the above background technology.

[0005] The present invention is achieved through the following technical solutions:

[0006] An artificial intelligence Internet of Things smart loading system comprises a loading area, a first roller conveyor and a truss manipulator, wherein the loading area is used to park vehicles to be loaded; the first roller conveyor is used to convey bagged goods to be loaded to the loading area; the truss manipulator is arranged in the loading area and is used to transfer the bagged goods on the first roller conveyor to the vehicle, and a gripper is installed at the end of the truss manipulator; the gripper comprises a mounting frame and at least one supporting claw, and the mounting frame is rotatably connected to the end of the manipulator; the at least one supporting claw is rotatably connected to the bottom of the mounting frame, and each of the supporting claws has a plurality of claw bodies arranged at intervals, and the gap between adjacent claw bodies is adjustable.

[0007] Optionally, the artificial intelligence IoT smart loading system also includes an unloading area for placing bagged goods to be loaded, and the unloading area is connected to the loading area through a first belt conveyor, and the first belt conveyor is used to transport the bagged goods to the first roller conveyor.

[0008] Optionally, the unloading area is provided with shelves and a depalletizing robot, and the depalletizing robot is used to transfer the bagged goods placed on the shelves to the first belt conveyor.

[0009] Optionally, the truss manipulator includes a structural frame, an X-axis assembly, a Y-axis assembly, and a Z-axis assembly, a mobile loading platform is fixedly mounted on the Y-axis assembly, a second roller conveyor, a second belt conveyor, and a first roller conveyor are sequentially arranged on the mobile loading platform from front to back, the second roller conveyor is inclined, and the mounting frame is connected to the Z-axis assembly.

[0010] Optionally, the artificial intelligence IoT smart loading system also includes a carriage positioning and size measurement module and a bagged cargo position detection module. The carriage positioning and size measurement module uses an FCN-ResNet50 network that integrates a CBAM attention mechanism to locate the carriage area of ​​the vehicle in the loading area and detect the corner points of the carriage area; the bagged cargo position detection module uses a YOLOX target detection algorithm to detect the position of the bagged cargo on the shelf.

[0011] Optionally, the supporting claw also includes a flipping part rotatably connected to the mounting frame, and the plurality of claw bodies are rotatably connected to the flipping part. The flipping part is driven to rotate by a first driving device, and the plurality of claw bodies are driven to rotate by a second driving device. The claw body is a rectangular parallelepiped structure.

[0012] Optionally, the flipping part is rotationally connected to the mounting frame via a first rotating shaft, the first driving device includes a first motor and a chain sprocket assembly, and the output end of the first motor is transmission-connected to the first rotating shaft via the chain sprocket assembly.

[0013] Optionally, the claw body is rotatably connected to the flipping part via a second rotating shaft, the second driving device includes a second motor and a worm gear, the housing of the second motor is fixedly mounted on the end of the first rotating shaft, and the output end of the second motor is connected to the second rotating shaft via the worm gear transmission.

[0014] Optionally, a shaping device is provided on the gripper, and the shaping device includes two L-shaped side clamps and an upper clamp, and a shaping space is enclosed between the upper clamp, the two side clamps and the claw body, and the side clamps are rotatably connected to the mounting frame, and a connecting frame is fixedly provided on the top of the upper clamp, and the connecting frame is slidably and rotatably connected to the two side clamps through a connecting shaft, and a vibration motor is installed on the top of the upper clamp.

[0015] Optionally, the top of the connecting frame is a rod-shaped structure, the top of the connecting frame movably passes through the mounting frame and is fixed with a limit block, and a spring is sleeved on the connecting frame located between the mounting frame and the limit block.

[0016] Compared with the prior art, the present invention provides an artificial intelligence IoT smart loading system, which has the following beneficial effects:

[0017] 1. The gap between adjacent claws of the gripper of the present invention can be adjusted. When grabbing bagged goods on the first roller conveyor, the gap between adjacent claws can be enlarged to ensure that the claws can extend into the gap of the rollers of the first roller conveyor to grab the bagged goods. When the bagged goods are grabbed and leave the first roller conveyor, the contact area between the claws and the bottom of the bagged goods can be increased by narrowing the gap between adjacent claws, thereby increasing the flatness of the bottom of the bagged goods and reducing the jumping of the bagged goods after falling, thereby improving the stability and efficiency of the loading process;

[0018] 2. The present invention is provided with a turning part, a first driving device, and a second driving device to drive the rotation. The claw body is a rectangular parallelepiped structure. The first driving device drives the turning part and the claw body to turn together, so that the bagged goods can be grasped and released. The second driving device drives the claw body to rotate relative to the turning part, so that the gap between adjacent claw bodies can be adjusted;

[0019] 3. The present invention provides a shaping device on the gripper, and the shaping device can be used to vibrate and shape the bagged goods on the claws, so that the bagged goods are closer to a rectangular parallelepiped, thereby improving the compactness and stability of the bagged goods when stacking. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2 It is a schematic diagram of the structure of the mobile stage, X-axis assembly, Y-axis assembly, Z-axis assembly and gripper of the present invention;

[0022] Figure 3 It is a schematic diagram of the gripper structure of the present invention;

[0023] Figure 4 It is a schematic diagram of the main structure of the gripper of the present invention;

[0024] Figure 5 It is a schematic diagram of the cutaway structure of the gripper of the present invention;

[0025] Figure 6 It is a schematic diagram of a claw structure of the present invention;

[0026] Figure 7It is a schematic diagram of the gripper structure including another supporting claw of the present invention;

[0027] Figure 8 It is a schematic structural diagram of the first group of claws and the third driving device of the present invention;

[0028] Fig. 9 It is a schematic structural diagram of the second group of claws and the fourth driving device of the present invention.

[0029] In the figure: 1. depalletizing robot; 2. vehicle; 3. first roller conveyor; 4. mounting frame; 5. claw body; 6. first belt conveyor; 7. shelf; 8. structural frame; 9. X-axis assembly; 10. Y-axis assembly; 11. Z-axis assembly; 12. mobile loading platform; 13. second roller conveyor; 14. second belt conveyor; 15. turning part; 16. first rotating shaft; 17. first motor; 18. chain sprocket assembly; 19. second rotating shaft; 20. second motor; 21. worm gear; 22. side clamping plate; 23. upper clamping plate; 24. connecting frame; 25. connecting shaft; 26. slideway; 27. vibration motor; 28. limit block; 29. ​​spring; 30. first set of claws; 31. second set of claws; 32. third rotating shaft; 33. tandem shaft; 34. electric push rod; 35. fourth rotating shaft; 36. bagged goods; 37. rotating cylinder. DETAILED DESCRIPTION

[0030] 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.

[0031] Example: See Figures 1 to 6 According to an embodiment of the present invention, an artificial intelligence IoT intelligent loading system is provided, which includes a loading area, a first roller conveyor 3 and a truss manipulator, wherein the loading area is used to park a vehicle 2 to be loaded; the first roller conveyor 3 is used to convey bagged goods 36 to be loaded to the loading area; the truss manipulator is arranged in the loading area and is used to transfer the bagged goods 36 on the first roller conveyor 3 to the vehicle 2, and a gripper is installed at the end of the truss manipulator;

[0032] The gripper includes a mounting frame 4 and at least one claw, wherein the mounting frame 4 is rotatably connected to the end of the manipulator; the at least one claw is rotatably connected to the bottom of the mounting frame 4, and each claw has a plurality of claw bodies 5 arranged at intervals, and the gap between adjacent claw bodies 5 is adjustable.

[0033] Specifically in this example, the mounting frame 4 is N-shaped, and two supporting claws are provided. The two supporting claws are rotatably connected to the two side walls of the bottom of the mounting frame 4 respectively. Compared with setting the supporting claws on one side of the mounting frame 4, it can prevent the bagged goods 36 from flipping over due to unilateral force during the lowering process, and can improve the stability during stacking.

[0034] When the bagged bagged goods 36 are loaded by the artificial intelligence Internet of Things smart loading system with the above structure, since the gap between the adjacent claw bodies 5 of the gripper's claw can be adjusted, when grabbing the bagged goods 36 on the first roller conveyor 3, the gap between the adjacent claw bodies 5 can be increased to ensure that the claw body 5 can extend into the gap of the roller of the first roller conveyor 3 to grab the bagged goods 36. When the bagged goods 36 are grabbed and leave the first roller conveyor 3, the contact area between the claw and the bottom of the bagged goods 36 can be increased by reducing the gap between the adjacent claw bodies 5, thereby increasing the flatness of the bottom of the bagged goods 36 and reducing the jumping of the bagged goods 36 after falling, thereby improving the stability of the loading process and the loading efficiency.

[0035] In this exemplary embodiment, the artificial intelligence IoT smart loading system also includes an unloading area for placing bagged goods 36 to be loaded, and the unloading area is connected to the loading area by a first belt conveyor 6, and the first belt conveyor 6 is used to convey the bagged goods 36 to the first roller conveyor 3. In addition, the unloading area is also provided with a shelf 7 and a depalletizing robot 1, and the depalletizing robot 1 is used to transfer the bagged goods 36 placed on the shelf 7 to the first belt conveyor 6. Specifically, the bagged goods 36 are stacked on the forklift board, so that the bagged goods 36 on the forklift board can be transferred by a forklift, and the bagged goods 36 on the forklift board are transferred to the first belt conveyor 6 by the depalletizing robot 1, which can further improve the loading efficiency of the bagged goods 36.

[0036] In this exemplary embodiment, the truss manipulator includes a structural frame 8, an X-axis assembly 9, a Y-axis assembly 10, and a Z-axis assembly 11. A mobile loading platform 12 is fixedly arranged on the Y-axis assembly 10. A second roller conveyor 13, a second belt conveyor 14, and a first roller conveyor 3 are arranged on the mobile loading platform 12 from front to back. The second roller conveyor 13 is inclined, and the mounting frame 4 is connected to the lower end of the Z-axis assembly 11 through a rotating cylinder 37. When loading, the vehicle 2 is parked in the loading area along the moving direction of the Y-axis assembly 10, and the first belt conveyor 6 sequentially conveys the bagged goods 36 in the unloading area to the mobile loading platform 12. Since the mobile loading platform 12 moves with the Y-axis assembly 10, the moving path of the gripper of the truss manipulator when grabbing the bagged goods 36 can be shortened, thereby improving the loading efficiency. The specific steps of conveying the bagged goods 36 on the first belt conveyor 6 to the mobile loading platform 12 are as follows: the bagged goods 36 on the first belt conveyor 6 reaches the second belt conveyor 14 on the top of the mobile loading platform 12 through the inclined second roller conveyor 13, and then is conveyed by the second belt conveyor 14 to the first roller conveyor 3 for grabbing by the truss robot.

[0037] In order to improve the intelligence of loading. In this exemplary embodiment, the artificial intelligence IoT smart loading system also includes a compartment positioning and size measurement module and a bagged goods 36 position detection module. The compartment positioning and size measurement module uses the FCN-ResNet50 network integrated with the CBAM attention mechanism to locate the compartment area of ​​the vehicle 2 in the loading area and detect the compartment corner points of the compartment area; the bagged goods 36 position detection module uses the YOLOX target detection algorithm to detect the position of the bagged goods 36 on the shelf 7. With the above settings, first, the internal parameters and distortion parameters of the industrial camera are determined by calibrating the camera; then, the images of the vehicle 2 collected from different fields of view by the industrial camera are used, and the collected images of the vehicle 2 are preprocessed and spliced; secondly, for different parking postures of the truck, the FCN-ResNet50 network integrated with the CBAM attention mechanism is used to locate the compartment area; finally, the compartment corner points of the compartment area are detected, and the size of the compartment of the vehicle 2 is calculated and measured using the ranging algorithm. After the compartment of vehicle 2 is positioned and the size is measured, the YOLOX target detection algorithm is used to detect the position of the bagged cargo 36, calculate the position coordinates of the bagged cargo 36, and select a suitable loading method based on the size of the compartment of vehicle 2 and the size of the bagged cargo 36.

[0038] In order to achieve the adjustable gap between adjacent claw bodies 5 and the grabbing and lowering of bagged goods 36, in this exemplary embodiment, the claw further includes a flipping portion 15 rotatably connected to the mounting frame 4, a plurality of claw bodies 5 are rotatably connected to the flipping portion 15, the flipping portion 15 is driven to rotate by a first driving device, and a plurality of claw bodies 5 are driven to rotate by a second driving device, and the claw body 5 is a rectangular parallelepiped structure. In this way, when grabbing the bagged goods 36 on the first roller conveyor 3, the claw body 5 is driven by the second driving device to rotate relative to the flipping portion 15, so that the gap between adjacent claw bodies 5 is maximized, so that the claw body 5 can be extended into the gap of the roller of the first roller conveyor 3 to grab the bagged goods 36. After the claw body 5 extends into the gap of the roller of the first roller conveyor 3, the flipping portion 15 and the claw body 5 are driven by the first driving device to flip upward together, thereby dragging the bottom of the bagged goods 36 to achieve the grabbing of the bagged goods 36. When the bagged goods 36 are grabbed and leave the first roller conveyor 3, the gap between the adjacent claws 5 is reduced by the second driving device, and the contact area between the claws and the bottom of the bagged goods 36 is increased. Finally, the grabbed bagged goods 36 are moved to a suitable position, and the first driving device drives the turning part 15 and the claws 5 to turn downward together, and the bagged goods 36 are placed in the compartment of the vehicle 2.

[0039] In this exemplary embodiment, the flip part 15 is rotatably connected to the mounting frame 4 via the first rotating shaft 16, the first driving device includes a first motor 17 and a chain sprocket assembly 18, and the output end of the first motor 17 is transmission-connected to the first rotating shaft 16 via the chain sprocket assembly 18. Of course, as long as the flip part 15 can be driven to rotate relative to the mounting frame 4, there is no particular limitation on the specific structural form of the first driving device.

[0040] In this exemplary embodiment, the claw body 5 is rotationally connected to the flip part 15 via the second rotating shaft 19, and the second driving device includes a second motor 20 and a worm gear 21. The housing of the second motor 20 is fixedly mounted on the end of the first rotating shaft 16, and the output end of the second motor 20 is transmission-connected to the second rotating shaft 19 via the worm gear 21. Of course, as long as the claw body 5 can be driven to rotate relative to the flip part 15, there is no particular limitation on the specific structural form of the second driving device.

[0041] like Figures 7 to 9As shown, in another embodiment, the claws include a first group of claws 30 and a second group of claws 31, each group of claws includes a plurality of claw bodies 5 fixedly arranged at intervals, the plurality of claw bodies 5 of the first group of claws 30 and the plurality of claw bodies 5 of the second group of claws 31 are staggered, the first group of claws 30 are rotatably connected to the mounting frame 4 through a third rotating shaft 32 and driven to rotate by a third driving device, the claw bodies 5 of the second group of claws 31 are rotatably connected to the third rotating shaft 32, the plurality of claw bodies 5 of the second group of claws 31 are fixedly connected together through a series shaft 33, and a fourth driving device for driving the second group of claws 31 to rotate is provided between the series shaft 33 and the mounting frame 4. Specifically, the third driving device has the same structure as the first driving device, and the fourth driving device is an electric push rod 34, and the two ends of the electric push rod 34 are rotatably connected to the series shaft 33 and the mounting frame 4, respectively. When grabbing the bagged goods 36, first, the first set of claws 30 are rotated to grab the bagged goods 36 from the first roller conveyor 3, and then the second set of claws 31 are rotated to fill the gap in the claw body 5 of the first set of claws 30. In this way, the contact area between the claws and the bottom of the bagged goods 36 can be increased, the flatness of the bottom of the bagged goods 36 can be improved, and the jumping of the bagged goods 36 after falling can be reduced, thereby improving the stability and efficiency of the loading process.

[0042] In this exemplary embodiment, a shaping device is provided on the gripper, and the shaping device includes two L-shaped side clamps 22 and an upper clamp 23. The upper clamp 23, the two side clamps 22 and the claw body 5 enclose a shaping space. The side clamps 22 are rotatably connected to the mounting frame 4 through the fourth rotating shaft 35. A connecting frame 24 is fixedly provided on the top of the upper clamp 23. The connecting frame 24 is slidably and rotatably connected to the two side clamps 22 through the connecting shaft 25. Specifically, a long strip of sliding groove 26 is provided on the side clamp 22. The connecting shaft 25 passes through the sliding groove 26 and can slide in the sliding groove 26. The connecting shaft 25 is fixed on the connecting frame 24. A vibration motor 27 is installed on the top of the upper clamp 23. By providing the shaping device on the gripper, the bagged goods 36 on the claw can be vibrated and shaped by the shaping device, so that the bagged goods 36 are closer to a cuboid, and the compactness and stability of the bagged goods 36 when stacked are improved. Specifically, when the supporting claw lifts the bagged goods 36 on the first roller conveyor 3 to the inner side of the mounting frame 4, the bagged goods 36 will push the upper clamping plate 23 to move upward, and the upper clamping plate 23 drives the two side clamping plates 22 to clamp inward, thereby clamping the bagged goods 36 in four directions of up, down, left and right. At the same time, under the action of the vibration motor 27, the bagged goods 36 are made to approach a rectangle.

[0043] In this exemplary embodiment, the top of the connecting frame 24 is a rod-shaped structure, the top of the connecting frame 24 movably passes through the mounting frame 4 and is fixedly provided with a limit block 28, and a spring 29 is sleeved on the connecting frame 24 between the mounting frame 4 and the limit block 28. In this way, when the gripper lowers the bagged goods 36, the limit block 28 can limit the downward movement distance of the upper clamping plate 23, and at the same time, the spring 29 can play a buffering role to prevent the limit block 28 from directly and violently colliding with the top of the mounting frame 4.

[0044] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An artificial intelligence IoT smart loading system, characterized in that: include: a loading area for parking vehicles to be loaded with cargo (2); a first roller conveyor (3) for conveying bagged goods (36) to be loaded to the loading area; and a truss manipulator, which is arranged in the loading area and is used to transfer the bagged goods (36) on the first roller conveyor (3) to the vehicle (2), and a gripper is installed at the end of the truss manipulator; The gripper comprises: A mounting frame (4) rotatably connected to the end of the manipulator; And at least one supporting claw is rotatably connected to the bottom of the mounting frame (4), and each of the supporting claws has a plurality of claw bodies (5) arranged at intervals, and the gap between adjacent claw bodies (5) is adjustable.

2. The artificial intelligence IoT intelligent loading system according to claim 1 is characterized by: It also includes an unloading area for placing bagged goods (36) to be loaded, and the unloading area is connected to the loading area via a first belt conveyor (6). The first belt conveyor (6) is used to convey the bagged goods (36) to the first roller conveyor (3).

3. The artificial intelligence IoT intelligent loading system according to claim 2 is characterized by: The unloading area is provided with a shelf (7) and a depalletizing robot (1), and the depalletizing robot (1) is used to transfer the bagged goods (36) placed on the shelf (7) to the first belt conveyor (6).

4. The artificial intelligence IoT intelligent loading system according to claim 2 is characterized by: The truss manipulator comprises a structural frame (8), an X-axis assembly (9), a Y-axis assembly (10), and a Z-axis assembly (11); a mobile loading platform (12) is fixedly arranged on the Y-axis assembly (10); a second roller conveyor (13), a second belt conveyor (14), and a first roller conveyor (3) are arranged on the mobile loading platform (12) in sequence from front to back; the second roller conveyor (13) is arranged in an inclined manner; and the mounting frame (4) is connected to the Z-axis assembly (11).

5. The artificial intelligence IoT intelligent loading system according to claim 3 is characterized by: It also includes a compartment positioning and size measurement module and a bagged goods (36) position detection module. The compartment positioning and size measurement module uses an FCN-ResNet50 network integrated with a CBAM attention mechanism to locate the compartment area of ​​the vehicle (2) in the loading area and detect the compartment corner points of the compartment area; the bagged goods (36) position detection module uses a YOLOX target detection algorithm to detect the position of the bagged goods (36) on the shelf (7).

6. The artificial intelligence IoT intelligent loading system according to claim 1 is characterized by: The supporting claw further comprises a flipping portion (15) rotatably connected to the mounting frame (4); a plurality of claw bodies (5) are rotatably connected to the flipping portion (15); the flipping portion (15) is driven to rotate by a first driving device; the plurality of claw bodies (5) are driven to rotate by a second driving device; and the claw bodies (5) are of a rectangular parallelepiped structure.

7. The artificial intelligence IoT intelligent loading system according to claim 6 is characterized by: The flipping portion (15) is rotationally connected to the mounting frame (4) via a first rotating shaft (16); the first driving device comprises a first motor (17) and a chain sprocket assembly (18); and the output end of the first motor (17) is transmission-connected to the first rotating shaft (16) via the chain sprocket assembly (18).

8. The artificial intelligence IoT intelligent loading system according to claim 7 is characterized by: The claw body (5) is rotationally connected to the flip part (15) via a second rotating shaft (19); the second driving device comprises a second motor (20) and a worm gear (21); the housing of the second motor (20) is fixedly mounted on the end of the first rotating shaft (16); the output end of the second motor (20) is transmission-connected to the second rotating shaft (19) via the worm gear (21).

9. The artificial intelligence IoT intelligent loading system according to any one of claims 1 to 8, characterized in that: A shaping device is arranged on the gripper, and the shaping device comprises two L-shaped side clamps (22) and an upper clamp (23); a shaping space is enclosed between the upper clamp (23), the two side clamps (22) and the claw body (5); the side clamps (22) are rotatably connected to the mounting frame (4); a connecting frame (24) is fixedly arranged on the top of the upper clamp (23); the connecting frame (24) is slidably and rotatably connected to the two side clamps (22) via a connecting shaft (25); a vibration motor (27) is installed on the top of the upper clamp (23).

10. The artificial intelligence IoT intelligent loading system according to claim 9 is characterized by: The top of the connecting frame (24) is a rod-shaped structure. The top of the connecting frame (24) movably passes through the mounting frame (4) and is fixed with a limit block (28). A spring (29) is sleeved on the connecting frame (24) located between the mounting frame (4) and the limit block (28).

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