Intelligent assembly line for electric cylinder

Abstract

The invention discloses an electric cylinder intelligent assembly line, and relates to the technical field of electric cylinder assembly, the electric cylinder intelligent assembly line comprises a feeding module and an assembly platform, the assembly platform is provided with a cylinder barrel supporting module used for placing a cylinder barrel, an electric push rod combination module used for placing an electric push rod, and a central axis parameter detection module; wherein the relative distance between the cylinder barrel supporting module and the electric push rod assembling module can be adjusted, the central axis parameter detection module is used for detecting central axis three-dimensional space parameters of a cylinder barrel and an electric push rod, and the cylinder barrel supporting module can drive the cylinder barrel to conduct position adjustment in a three-dimensional space. The electric push rod assembling module drives the electric push rod to conduct position adjustment and rotation in a three-dimensional space, the electric push rod is assembled into a cylinder barrel on the cylinder barrel supporting module, the electric push rod assembling module, the cylinder barrel supporting module and the electric push rod assembling module are matched to automatically assemble the electric push rod into the cylinder barrel on the cylinder barrel supporting module, and intelligent assembling of the electric cylinder is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of electric cylinder assembly, and in particular to an intelligent assembly line for electric cylinders. Background Art

[0002] In the assembly process of electric cylinders, the assembly of the electric cylinder push rod and the cylinder barrel is a key step, and its accuracy and efficiency directly affect the overall performance and production cost of the electric cylinder. The traditional assembly method often relies on manual operation, and the assembly of the electric cylinder push rod and the cylinder barrel is completed by manual alignment, rotation and screwing. However, this method has many shortcomings.

[0003] First, the accuracy of manual assembly is limited by the skills and experience of the operator, and it is difficult to ensure that every assembly can meet the ideal accuracy requirements. This may lead to unstable performance and shortened life of the electric cylinder during use. Secondly, the efficiency of manual assembly is low, especially in the case of large-scale and large-size production, the speed and accuracy of manual operation often cannot meet production needs. This not only increases production costs, but also limits the production capacity of electric cylinders. In addition, traditional assembly methods also have safety hazards. During the assembly process, operators need to frequently contact the parts of the electric cylinder. If the operation is improper or the equipment fails, safety accidents are likely to occur. In addition, some existing simple assembly equipment can often only achieve simple component positioning and pushing, and cannot accurately detect the three-dimensional spatial parameters of the center axis of the cylinder barrel and the electric push rod. During the assembly process, it is difficult to ensure that the electric push rod is accurately aligned with the center axis of the cylinder barrel, which can easily cause jamming and increased wear of the electric cylinder during operation, and even affect the service life and working performance of the electric cylinder.

[0004] With the continuous improvement of industrial automation, the market demand for electric cylinders is growing, and higher requirements are also placed on their assembly accuracy and efficiency. Traditional assembly methods can no longer meet the needs of large-scale, high-quality production, and an electric cylinder assembly line that can achieve intelligent assembly and improve assembly accuracy and efficiency is urgently needed to promote the development of the industry. Summary of the invention

[0005] The purpose of the present invention is to solve the problems of difficult alignment, unstable rotation, low assembly efficiency, etc. in the assembly process of shaft parts in the prior art. By providing an intelligent assembly line for electric cylinders, precise position adjustment of electric cylinder accessories and assembly processes in three-dimensional space can be achieved, thereby improving the assembly efficiency and accuracy of precision equipment such as electric cylinders.

[0006] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: an intelligent assembly line for an electric cylinder, comprising a loading module and an assembly platform, wherein the assembly platform is provided with a cylinder support module for placing a cylinder, an electric push rod assembly module for placing an electric push rod, and a central axis parameter detection module, wherein the relative distance between the cylinder support module and the electric push rod assembly module can be adjusted, the central axis parameter detection module is used to detect the three-dimensional spatial parameters of the central axis of the cylinder and the electric push rod, the cylinder support module can drive the cylinder to adjust its position in three-dimensional space, the electric push rod assembly module drives the electric push rod to adjust its position and rotate in three-dimensional space, and assembles the electric push rod into the cylinder on the cylinder support module.

[0007] In order to further optimize the present invention, the following technical solutions may be preferably used:

[0008] Preferably, the feeding mechanism includes a frame, on which a supporting swing arm is rotatably arranged, a retractable inner supporting arm is coaxially arranged inside the supporting swing arm, a supporting portion is provided at one end of the inner supporting arm, a plurality of supporting swing arms are arranged side by side, and the supporting portions of the plurality of inner supporting arms form a supporting surface for supporting electric cylinder components, a telescopic driving mechanism is provided on the supporting swing arm for driving the inner supporting arm to retract and extend along the length direction of the supporting swing arm, and a rotating driving mechanism is also provided on the frame for adjusting the inclination angle of the supporting swing arm.

[0009] Preferably, the cylinder support module includes a cylinder support mechanism, a cylinder support frame is movably arranged on the cylinder support mechanism, a cylinder clamping station for clamping the cylinder is arranged on the cylinder support frame, and a moving actuator 1 is arranged on the cylinder support frame for driving the cylinder clamping station to adjust along the X direction, the Z direction and the Y direction, and the moving actuator 1 drives the cylinder to adjust its position in three-dimensional space.

[0010] Preferably, the electric push rod assembly module includes an electric push rod rotation support mechanism, an electric push rod support frame is provided on the electric push rod rotation support mechanism, an electric push rod clamping station for clamping the electric push rod is provided on the electric push rod support frame, a mobile actuator 2 is provided on the electric push rod support frame for driving the electric push rod clamping station to adjust along the X direction, the Z direction and the Y direction, and the electric push rod rotation support mechanism is also provided with a rotation actuator for driving the electric push rod on the rotation clamping station to rotate, the mobile actuator 2 and the rotation actuator drive the electric push rod to adjust its position and rotate in three-dimensional space, so as to realize the assembly of the electric push rod into the cylinder on the cylinder support module.

[0011] Preferably, the central axis parameter detection module includes a plurality of detection modules, and the detection modules are respectively arranged at one end of the outer side of the cylinder support module, one end of the outer side of the electric push rod assembly module, and a position between the cylinder support module and the electric push rod assembly module.

[0012] Preferably, the detection module includes a mobile executing three-axis module movably arranged on a frame, and an end detection mechanism is arranged on the mobile executing three-axis module. The mobile executing three-axis module drives the end detection mechanism to move in three-dimensional space to implement multi-point detection of three-dimensional space position.

[0013] Preferably, the mobile actuator mechanism 1 and the mobile actuator mechanism 2 both include an X-axis mobile actuator component, a Y-axis mobile actuator component, and a Z-axis mobile actuator component; the X-axis mobile actuator component includes an X-axis guide rail module arranged on the frame along the X-axis direction, and the cylinder support mechanism and the electric push rod rotation support mechanism share a set of X-axis guide rail modules; the cylinder support frame and the electric push rod support frame are relatively arranged in multiple numbers, and the bottom of the cylinder support frame and the electric push rod support frame are respectively provided with an X-axis slider 1 and an X-axis slider 2 that cooperate with the X-axis guide rail module, and the cylinder support frame and the electric push rod support frame are respectively provided with an X-axis driving mechanism 1 and an X-axis slider 2 for driving the cylinder support frame and the electric push rod support frame to move along the X-axis guide rail module.

[0014] Preferably, the X-axis driving mechanism is a dual-servo drive motor driven dual-pinion rack mechanism, the X-axis driving mechanism includes transmission racks arranged on the frame at positions on both sides of the corresponding cylinder support frame and the electric push rod support frame, the transmission rack is arranged along the X-axis direction, and the cylinder support frame and the electric push rod support frame are respectively provided with servo drive motor 1 and servo drive motor 2 at positions corresponding to the transmission rack, the driving ends of the servo drive motor 1 and servo drive motor 2 are connected with drive gear 1 and drive gear 2 that cooperate with the transmission rack; the X-axis guide rail module includes X-axis guide rail 1 and X-axis guide rail 2 arranged on both sides of the corresponding cylinder support frame and the electric push rod support frame on the frame, and two groups of X-axis sliders 1 and X-axis sliders 2 are matched.

[0015] Preferably, the Y-direction moving execution component comprises a cylinder sliding seat and an electric push rod sliding seat movably arranged on a cylinder support frame and an electric push rod support frame, the sliding direction of the cylinder sliding seat and the electric push rod sliding seat slides along the Y direction, the bottom of the cylinder sliding seat and the electric push rod sliding seat are respectively arranged with a Y-axis guide rail 1 and a Y-axis guide rail 2 along the Y-axis direction, the cylinder support frame and the electric push rod support frame are respectively provided with a slider 1 and a slider 2 cooperating with the Y-axis guide rail 1 and the Y-axis guide rail 2, the cylinder support frame and the electric push rod support frame A Y-axis electric cylinder 1 and a Y-axis electric cylinder 2 are respectively arranged on the top for driving the cylinder sliding seat and the electric push rod sliding seat to slide along the Y-axis direction; the Z-direction moving execution component includes a Z-axis electric cylinder 1 and a Z-axis electric cylinder 2 which are respectively arranged downward on the cylinder sliding seat and the electric push rod sliding seat, the driving end of the Z-axis electric cylinder 1 is connected to the cylinder clamping station, and the Z-axis electric cylinder 1 drives the cylinder clamping station to adjust in the Z-axis direction, and the driving end of the Z-axis electric cylinder 2 is connected to the rotating clamping station, and the Z-axis electric cylinder 2 drives the rotating clamping station to adjust in the Z-axis direction.

[0016] The beneficial effects of the present invention are:

[0017] (1) Significantly improve assembly accuracy: Multiple detection modules of the central axis parameter detection module are distributed at one end of the outer side of the cylinder support module, one end of the outer side of the electric push rod assembly module, and the position between the two. Each detection module drives the end detection mechanism to move in three-dimensional space by moving the three-axis execution module to achieve multi-point detection, and can accurately detect the three-dimensional space parameters of the central axis of the cylinder and the electric push rod. Based on these precise parameters, the cylinder support module and the electric push rod assembly module can respectively drive the cylinder and the electric push rod to perform precise position adjustment and rotation of the electric push rod in three-dimensional space, ensuring that the electric push rod is accurately aligned with the central axis of the cylinder, greatly improving assembly accuracy, effectively reducing the jamming phenomenon during the operation of the electric cylinder, reducing wear, extending the service life of the electric cylinder and improving working performance.

[0018] (2) Greatly improve assembly efficiency: A retractable inner support arm is coaxially arranged inside the support swing arm of the loading mechanism, and the support parts of the multiple inner support arms form a support surface for supporting the electric cylinder parts. The telescopic drive mechanism drives the inner support arm to retract, and the rotary drive mechanism adjusts the inclination angle of the support swing arm, which can quickly and efficiently complete the loading process of the electric cylinder parts, saving loading time. The first mobile actuator of the cylinder support module and the second mobile actuator of the electric push rod assembly module both include X-axis, Y-axis, and Z-axis mobile actuator components, and the X-axis mobile actuator component adopts a dual servo drive motor to drive a dual gear rack mechanism, and cooperates with the X-axis guide module to realize the rapid and precise movement of the cylinder support frame and the electric push rod rotation support mechanism. The Y-axis and Z-axis mobile actuator components are driven by the Y-axis electric cylinder and the Z-axis electric cylinder respectively, which can quickly drive the cylinder clamping station and the electric push rod clamping station to adjust their positions in the corresponding directions. The rotary actuator on the electric push rod rotation support mechanism can quickly drive the electric push rod to rotate. These efficient drive and actuator mechanisms work together to greatly shorten the time for assembling the electric push rod into the cylinder and significantly improve the overall assembly efficiency.

[0019] (3) Enhance the adaptability and flexibility of the equipment: The relative distance between the cylinder support module and the electric push rod assembly module can be adjusted to meet the assembly requirements of electric cylinders of different specifications. In addition, there are multiple cylinder support frames and electric push rod support frames relatively arranged, and multiple cylinders and electric push rods can be operated at the same time, which not only meets the needs of mass production, but also can flexibly adjust the assembly tasks, thereby improving the efficiency and adaptability of the equipment. In the X-axis mobile actuator assembly of mobile actuator 1 and mobile actuator 2, the cylinder support mechanism and the electric push rod rotation support mechanism share a set of X-axis guide rail modules, which rationally utilizes the equipment space, reduces the equipment cost, and also facilitates the maintenance and management of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the overall structure of the electric cylinder push rod and cylinder barrel assembly equipment in Example 1;

[0021] Figure 2 It is a schematic diagram of the three-dimensional structure of the cylinder support mechanism in Example 1;

[0022] Figure 3 It is a front view of the cylinder support mechanism in Example 1;

[0023] Figure 4 is a top view of the cylinder support mechanism in Example 1;

[0024] Figure 5 Three-dimensional cylinder clamping station Figure 1 ;

[0025] Figure 6 Three-dimensional cylinder clamping station Figure 2;

[0026] Figure 7 This is the main view of the cylinder clamping station;

[0027] Figure 8 The three-dimensional structure of the electric push rod rotation support mechanism in Example 1 is shown in FIG. Figure 1 ;

[0028] Fig. 9 The three-dimensional structure of the electric push rod rotation support mechanism in Example 1 is shown in FIG. Figure 2 ;

[0029] Fig.10 Three-dimensional clamping station for electric push rod Figure 1 ;

[0030] Fig.11 Three-dimensional clamping station for electric push rod Figure 2 ;

[0031] Fig.12 This is the main view of the electric push rod clamping station;

[0032] Fig.13 It is a cross-sectional view of the electric push rod clamping station.

[0033] Fig.14 It is a schematic diagram of the three-dimensional structure of the feeding device in this embodiment;

[0034] Fig.15 Schematic diagram of the internal structure of the feeding device in this embodiment;

[0035] Fig.16 Schematic diagram of the structure of the central axis parameter detection module in this embodiment;

[0036] Fig.17 It is a schematic diagram of the three-dimensional structure of the central axis parameter detection module.

[0037] In the figure: 1. Assembly platform; 2-cylinder support mechanism; 3. Electric push rod rotation support mechanism; 4. X-axis moving execution assembly; 5. Y-axis moving execution assembly; 6. Z-axis moving execution assembly; 7. Cylinder support frame; 8. X-axis guide rail 1; 9. X-axis guide rail 2; 10. X-axis slider 1; 11. Transmission rack; 12. Electric push rod support frame; 13. Cylinder clamping station; 14. Electric push rod clamping station; 15-X-axis slider 2; 16-X-axis guide rail 2; 17-rotation actuator; 18. Clamping frame 1; 19. Clamping frame 2; 29. ​​Arc limit groove 1; 30. Arc limit groove 2; 31. Rotation axis 1; 32. Rotation axis 2; 33. Y-axis direction limit axis; 34. Z-axis direction limit axis;

[0038] 212, servo drive motor 1; 213, drive gear 1; 214, cylinder slide seat; 215, Y-axis guide rail; 216, Y-axis slider 1; 217, Y-axis electric cylinder 1; 218, Z-axis electric cylinder 1; 219, lower support plate; 220, upper clamping plate; 221, clamping spacing adjustment mechanism 1; 222, outer frame 1; 223, inner frame 1; 224, guide rod 1; 225, guide sleeve 1; 226, clamping motor 1; 227, drive screw rod 1; 228, threaded sleeve 1;

[0039] 312. Servo drive motor 2; 313. Drive gear 2; 314. Electric push rod sliding seat; 315. Y-axis guide rail 2; 316. Y-axis slider 2; 317. Y-axis electric cylinder 2; 318. Z-axis electric cylinder 2; 319. Lower support wheel group; 320. Upper clamping wheel group; 321. Clamping spacing adjustment mechanism 2; 322. Outer frame 2; 323. Inner frame 2; 324. Guide rod 2; 325. Guide sleeve 2; 326. Clamping motor 2; 327. Drive screw rod 2; 328. Threaded sleeve 2; 329. Rotating motor; 330. Support wheel.

[0040] 402-detection head, 403-moving seat, 404-X-axis driving mechanism, 405-Y-axis driving mechanism, 406-Z-axis driving mechanism, 407-laser displacement sensor, 408-contact sensor, 409-mounting seat, 410-mounting adjustment hole;

[0041] 501-frame, 502-support swing arm, 503-inner support arm, 504-support pad, 505-rotating shaft, 506-telescopic guide rail, 507-telescopic slider, 508-reinforcement rib, 509-limiting frame, 510-linear reciprocating drive mechanism, 511-first pulley, 512-second pulley. DETAILED DESCRIPTION

[0042] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0043] Embodiment 1: Embodiment 1: An intelligent assembly line for an electric cylinder comprises a loading module and an assembly platform 1, on which are installed a cylinder support module for placing a cylinder, an electric push rod assembly module for placing an electric push rod, and a central axis parameter detection module, wherein the relative distance between the cylinder support module and the electric push rod assembly module can be adjusted, the central axis parameter detection module is used to detect the three-dimensional spatial parameters of the central axes of the cylinder and the electric push rod, the cylinder support module can drive the cylinder to adjust its position in three-dimensional space, the electric push rod assembly module drives the electric push rod to adjust its position and rotate in three-dimensional space, and assembles the electric push rod into the cylinder on the cylinder support module.

[0044] As for the loading module part, it is used for automatic loading of electric push rods and cylinders, wherein the position of the loading module corresponds to the electric push rod assembly module and the cylinder support module in the assembly platform, and multiple sets of matching designs are designed.

[0045] The loading module includes a loading rack 501, on which a support swing arm 502 is rotatably mounted, and a retractable inner support arm 503 is coaxially mounted inside the support swing arm 502. One end of the inner support arm 503 extends out of the support swing arm and is equipped with a support portion. Multiple support swing arms are installed side by side, and the support portions of the multiple inner support arms form a support surface for supporting electric cylinder parts. The support swing arm is equipped with a telescopic drive mechanism for driving the inner support arm to extend and retract along the length direction of the support swing arm. The loading rack is also equipped with a rotary drive mechanism for adjusting the inclination angle of the support swing arm. From the perspective of the overall structural layout, the coordinated design of the support swing arm and the inner support arm, combined with the telescopic drive mechanism and the rotary drive mechanism, greatly improves the loading efficiency. When transporting heavy and large-sized electric cylinder parts, the traditional loading method often requires a lot of manpower and time to adjust the position. However, the device can quickly transport the parts to the target position through mechanized precise control, which greatly shortens the loading cycle and effectively guarantees the efficient operation of the production line.

[0046] As a preferred embodiment, the support portion includes a support pad 504 installed at the free end of the inner support arm, and the support pad 504 can be detachably installed on the inner support arm 503, and the support surface of the support pad 504 is V-shaped; the above design brings extremely high versatility. In the production of electric cylinders, the shapes of parts are various, and the V-shaped support surface can adapt to parts with various cross-sectional shapes such as round and square to provide stable support. Moreover, the detachable design facilitates the flexible replacement of the support pad according to the needs of parts in different production batches, reducing equipment idle time and reducing production costs.

[0047] As a preferred embodiment, the telescopic drive mechanism includes a telescopic rail 506 installed on the inner support arm, the telescopic rail 506 is arranged along the length direction of the inner support arm, a telescopic slider 507 cooperating with the telescopic rail is installed on the inner side wall of the support swing arm, and a linear reciprocating drive mechanism 510 for driving the inner support arm to extend and retract along the telescopic rail is installed at the tail of the support swing arm, and the driving end of the linear reciprocating drive mechanism is connected to the inner support arm; in the telescopic drive mechanism, the cooperation between the telescopic rail and the telescopic slider, combined with the linear reciprocating drive mechanism 510, ensures the stability and accuracy of the telescopic movement of the inner support arm. When carrying heavy parts, smooth movement is crucial to effectively prevent parts from being damaged due to shaking.

[0048] As a preferred implementation scheme, two groups of telescopic guide rails are installed side by side, and reinforcing ribs 508 are installed on the inner support arm at positions corresponding to the positions between the two groups of telescopic guide rails; the arrangement of the two groups of telescopic guide rails and the reinforcing ribs significantly enhances the structural strength of the inner support arm, enabling it to easily carry heavy electric cylinder components, thereby broadening the scope of application of the device.

[0049] As a preferred implementation scheme, the middle part of the support swing arm is rotatably mounted on the loading rack via a rotating shaft 505, and the rotary drive mechanism includes a winch and a pulley block. The traction rope of the winch is connected to the inner end of the support swing arm via the pulley block. The pulley block includes a first pulley mounted on the loading rack and a second pulley mounted on the support swing arm. The traction rope passes through the first pulley 511 and the second pulley 512 in sequence. The rotary drive mechanism uses a combination of a winch and a pulley block, which provides a convenient and precise control method for adjusting the tilt angle of the support swing arm. The operator can accurately adjust the tilt of the support swing arm according to the height and position requirements of the assembly station, and accurately deliver the parts to the designated position, thereby improving the accuracy of loading, reducing secondary adjustments caused by position deviations, and further improving production efficiency.

[0050] As a preferred implementation scheme, a limiting frame 509 is also installed on the side of the back of the supporting swing arm corresponding to the loading rack, and the limiting frame 509 and the supporting swing arm 502 form a receiving groove; during the entire loading process, the receiving groove always plays a limiting role on the parts, effectively preventing the parts from accidentally slipping during the transportation process, reducing the risk of safety accidents, and providing reliable safety protection for operators and equipment.

[0051] Regarding the cylinder support module part: the cylinder support module includes a cylinder support mechanism 2, a plurality of cylinder support frames 7 are movably installed on the cylinder support mechanism, a cylinder clamping station for clamping the cylinder is installed on the cylinder support frame, a moving actuator 1 is installed on the cylinder support frame for driving the cylinder clamping station to adjust along the X direction, Z direction and Y direction, and the moving actuator 1 drives the cylinder to adjust its position in three-dimensional space; wherein the cylinder clamping station includes a lower support plate 219 and an upper clamping plate 220 installed on the cylinder support frame, the supporting surface of the lower support plate is V-shaped, the upper clamping plate is installed on the cylinder support frame corresponding to the position directly above the lower support plate, and a clamping spacing adjustment mechanism 221 for changing the spacing between the lower support plate and the upper clamping plate is installed on the cylinder support frame; A clamping pressure sensor is installed on the clamping surface of the upper clamping plate, and a clamping spacing adjustment mechanism includes a clamping frame installed on the cylinder support frame, and the lower support plate and the upper clamping plate are movably installed in the clamping frame, and a guide rod 224 is installed in the clamping frame along the lifting direction of the upper clamping plate, and a guide sleeve 225 matching the guide rod is installed on the lower support plate and the upper clamping plate. A clamping drive mechanism for driving the lower support plate and the upper clamping plate to reciprocate and lift along the guide rod is installed on the clamping frame; the clamping drive mechanism includes a clamping motor 226 installed on the clamping frame, and the clamping motor is connected to a driving screw 227 through a belt drive, and a threaded sleeve 228 matching the driving screw is installed on the lower support plate and the upper clamping plate.

[0052] The design advantages of the above structure are as follows: (1) Stable and reliable clamping effect: The lower support plate adopts a V-shaped support surface design, which can better adapt to the shape of the long shaft of the electric cylinder and provide stable support. At the same time, the upper clamping plate cooperates with the lower support plate, and the distance between the two is accurately controlled by the clamping distance adjustment mechanism to achieve effective clamping of the long shaft of the electric cylinder. This design ensures the stability and reliability of the clamping process and avoids assembly errors or damage caused by unstable clamping. (2) High-precision clamping distance adjustment: The clamping distance adjustment mechanism achieves high-precision adjustment of the distance between the lower support plate and the upper clamping plate through the coordinated action of the clamping frame, guide rod, guide sleeve and clamping drive mechanism. This adjustment capability enables the device to flexibly adapt to electric cylinder long shafts of different sizes and shapes, improving the versatility and accuracy of assembly. (3) Intelligent clamping control: The clamping pressure sensor installed on the upper clamping plate can monitor the pressure changes during the clamping process in real time and provide feedback signals to the clamping drive mechanism. Through the intelligent control algorithm, the clamping force can be accurately controlled to avoid assembly problems caused by over-tightening or over-loosening. This intelligent control improves the automation and accuracy of assembly. (4) Compact structure and easy maintenance: The clamping support station and its clamping spacing adjustment mechanism adopt a modular design, which is compact and easy to disassemble and install. This design not only saves space resources, but also facilitates subsequent maintenance and upgrades. When a component needs to be replaced or repaired, it can be operated separately without affecting the normal operation of the entire device. (5) Improve assembly efficiency and safety: Through the automated clamping and spacing adjustment functions, the need for manual intervention is reduced and assembly efficiency is improved. At the same time, the stable clamping effect and precise control capabilities also reduce safety risks during the assembly process and ensure the safety of operators.

[0053] The electric push rod assembly module includes an electric push rod rotation support mechanism 3, an electric push rod support frame 12 is installed on the electric push rod rotation support mechanism, an electric push rod clamping station 14 for clamping the electric push rod is installed on the electric push rod support frame 12, a mobile actuator 2 for driving the electric push rod clamping station to adjust along the X direction, the Z direction, and the Y direction is installed on the electric push rod support frame, and a rotation actuator 17 for driving the electric push rod on the rotation clamping station to rotate is also installed on the electric push rod rotation support mechanism. The mobile actuator 2 and the rotation actuator 17 drive the electric push rod The push rod is adjusted and rotated in three-dimensional space to realize the assembly of the push rod into the cylinder on the cylinder support module; the electric push rod clamping station 14 includes a lower support wheel group 319 and an upper clamping wheel group 320 installed on the electric push rod support frame, wherein the lower support wheel group includes two support wheels 330 installed side by side, and the two support wheels form a V-shaped support surface, and the upper clamping wheel group is installed on the electric push rod support frame at a position directly above the lower support wheel group, and the electric push rod support frame is equipped with a clamping spacing adjustment device for changing the spacing between the lower support wheel group and the upper clamping wheel group. The whole mechanism 2 321, the rotating actuator 17 includes a rotating motor 329 installed on the assembly platform, the driving end of the rotating motor is coaxially connected to the support wheel of one group of lower supporting wheel groups, and a torque sensor is installed on the rotating shaft of the rotating motor; wherein the upper clamping wheel group includes two upper clamping wheels rotatably installed side by side on the support frame, and a clamping pressure sensor is installed on the clamping surface of the upper clamping wheel group, and the clamping spacing adjustment mechanism 2 includes a clamping frame 2 installed on the electric push rod support frame, and the lower supporting wheel group and the upper clamping wheel group are both movably installed in the clamping frame 2 19, A guide rod 324 is installed in the clamping frame 19 along the lifting direction of the upper clamping wheel group, and a guide sleeve 325 matching the guide rod 32 is installed on the lower supporting wheel group and the upper clamping wheel group. A clamping drive mechanism 32 is installed on the clamping frame for driving the lower supporting wheel group and the upper clamping wheel group to reciprocate and lift along the guide rod 32. The clamping drive mechanism 32 includes a clamping motor 326 installed on the clamping frame, and the clamping motor 32 is connected to a driving screw 327 through a belt drive. A threaded sleeve 328 matching the thread of the driving screw 32 is installed on the lower supporting wheel group and the upper clamping wheel group.

[0054] The design advantages of the above structure are: (1) Stable and reliable clamping effect: Through the cooperation of the lower support wheel group and the upper clamping wheel group of the V-shaped support surface, it is possible to achieve stable clamping of cylindrical or similar shaped objects. This design can not only effectively prevent the object from sliding or offsetting during rotation, but also adapt to objects of different diameters, thereby improving the versatility and flexibility of the equipment. (2) Accurate clamping spacing adjustment: The clamping spacing adjustment mechanism allows the user to accurately adjust the spacing between the lower support wheel group and the upper clamping wheel group according to the size and shape of the object. This helps to ensure that the object is clamped evenly and tightly, thereby improving the accuracy and efficiency of processing or inspection. (3) Real-time monitoring and protection: The application of torque sensors and clamping pressure sensors enables users to monitor the torque and clamping force generated during rotation in real time. This helps to detect abnormal conditions such as overload and jamming in a timely manner, thereby protecting the safety of the equipment and the object being processed. (4) Compact structure and easy maintenance: The entire rotating clamping station adopts a modular design, with tight connections and compact structure between the components. This not only reduces the footprint of the equipment, but also facilitates daily maintenance and maintenance for users. At the same time, due to the clear coordination relationship between the various components, the probability of failure is also reduced. (5) Improve production efficiency: Through automated control, users can easily perform operations such as clamping, rotating and releasing objects. This not only reduces the labor intensity of workers, but also improves production efficiency and product quality. In addition, since the equipment can operate stably and reliably, it also reduces production interruptions and losses caused by equipment failure. In summary, the rotary clamping station has the beneficial effects of stable and reliable clamping effect, precise clamping spacing adjustment, real-time monitoring and protection, compact structure, easy maintenance, and improved production efficiency. These characteristics make the equipment have broad application prospects and market demand in the fields of mechanical processing, automated production lines, etc.

[0055] Among them, the clamping frame 18 and the cylinder support frame, the clamping frame 2 19 and the electric cylinder push rod support frame are connected through the rotating shaft 1 31 arranged in the Y-axis direction and the rotating shaft 2 32 arranged in the Z-axis direction, and the rotating shaft 1 and the rotating shaft 2 form a cross-axis structure; the clamping frames 1 and 2 are also equipped with a Y-axis direction limit shaft 33 and a Z-axis direction limit shaft 34, the Y-axis direction limit shaft is parallel to the rotating shaft 1, and the Z-axis direction limit shaft is parallel to the rotating shaft 2, and the cylinder support frame and the electric cylinder push rod support frame are respectively equipped with matching arc limit grooves 1 29 and arc limit grooves 2 30 at the positions of the Y-axis direction limit shaft and the Z-axis direction limit shaft. Specifically, the clamping frame 1 includes an outer frame 1 222 and an inner frame 1 223. The inner frame 1 is rotatably installed in the outer frame 1. The rotating shaft 1 and the limiting shaft in the X-axis direction are both installed between the outer frame 1 222 and the inner frame 1 223. The rotating shaft 2 32 and the limiting shaft in the Y-axis direction 33 in the cylinder support mechanism are installed between the outer frame and the cylinder support frame. The clamping frame 2 includes an outer frame 2 322 and an inner frame 2 323. The inner frame 2 is rotatably installed in the outer frame 2. The rotating shaft 1 and the limiting shaft in the X-axis direction are both installed between the outer frame 2 and the inner frame 2. The rotating shaft 2 and the limiting shaft in the Y-axis direction in the electric push rod rotation support mechanism are installed between the outer frame and the electric cylinder push rod support frame.

[0056] The above structural design has the following advantages: (1) Efficient and accurate clamping drive: The clamping drive mechanism adopts a design in which the clamping motor is connected to the drive screw through a belt drive, thereby realizing the precise drive of the lower support plate and the upper clamping plate. This design not only has high transmission efficiency, but also ensures the uniform application of the clamping force, thereby avoiding assembly problems caused by uneven clamping force. At the same time, the threaded matching of the threaded sleeve and the drive screw further improves the clamping accuracy and stability. (2) Flexible clamping frame adjustment: The clamping frame and the support frame form a cross-axis structure through the rotating axis 1 arranged in the Y-axis direction and the rotating axis 2 arranged in the Z-axis direction, so that the clamping frame can be flexibly rotated and adjusted in two directions. This design not only improves the adaptability of the device, but also meets the assembly requirements of different angles and directions. At the same time, the matching of the Y-axis direction limit axis and the Z-axis direction limit axis with the arc limit groove 1 and arc limit groove 2 on the support frame ensures the stability and accuracy of the clamping frame during the adjustment process. (3) Compact and stable structure: The clamping frame adopts a nested design of an outer frame and an inner frame, and the inner frame is rotatably installed in the outer frame, making the entire structure more compact and stable. This design not only saves space resources, but also improves the rigidity and durability of the device. At the same time, the installation position of the rotating axis and the X-axis limit axis (although the X-axis limit axis is not directly mentioned in the original text, it is speculated based on the context that it may refer to the structure related to the stability of the clamping frame in the X-axis direction) also ensures the stability and reliability of the clamping frame in multiple directions. (4) Improve assembly efficiency and flexibility: Through the optimized design of the clamping drive mechanism and the clamping frame, the entire device can complete the clamping and position adjustment tasks more efficiently and flexibly during the assembly process. This not only improves assembly efficiency, but also reduces operating difficulty and labor costs. At the same time, the flexible adjustment capability of the clamping frame also enables the device to adapt to the assembly requirements of more types of electric cylinder long shaft parts. (5) Enhance user experience and maintenance convenience: The optimized design makes the entire device smoother and more stable during operation, improving user experience. At the same time, the modular design also facilitates subsequent maintenance and upgrade work. When a component needs to be replaced or repaired, it can be operated independently without affecting the normal operation of other components.

[0057] The movement driving principles of the cylinder support module and the electric push rod assembly module are the same. Specifically, the mobile actuator 1 and the mobile actuator 2 both include an X-axis movement actuator component 4, a Y-axis movement actuator component 5, and a Z-axis movement actuator component 6; the X-axis movement actuator component 4 includes an X-axis guide module installed on the assembly platform along the X-axis direction, and the cylinder support mechanism and the electric push rod rotation support mechanism share a set of X-axis guide modules; the cylinder support frame and the electric push rod support frame are relatively installed with multiple X-axis sliders 10 and X-axis sliders 2 15 that cooperate with the X-axis guide module are respectively installed at the bottom of the cylinder support frame and the electric push rod support frame, and the cylinder support frame and the electric push rod support frame are respectively installed with X-axis drivers for driving the cylinder support frame and the electric push rod support frame to move along the X-axis guide module Mechanism; wherein the X-axis driving mechanism is a dual-servo driving motor driven dual-gear rack mechanism, the X-axis driving mechanism includes a transmission rack 11 installed on the assembly platform at positions on both sides of the corresponding cylinder support frame and the electric push rod support frame, the transmission rack is arranged along the X-axis direction, and a servo driving motor 1 212 and a servo driving motor 2 312 are respectively installed on the cylinder support frame and the electric push rod support frame at positions corresponding to the transmission rack, wherein the driving ends of the servo driving motor 1 212 and the servo driving motor 2 312 are connected with a driving gear 1 213 and a driving gear 2 313 matched with the transmission rack; the X-axis guide rail module includes an X-axis guide rail 1 8 and an X-axis guide rail 2 16 installed on the assembly platform at positions corresponding to the cylinder support frame and the electric push rod support frame, and two sets of X-axis sliders 10 and X-axis sliders 2 are matched and installed.

[0058] Design advantages of the above structure: The beneficial effects of the preferred design of the above X-axis moving actuator are mainly reflected in the following aspects: (1) High-precision positioning: The dual servo drive motor drives the dual gear rack mechanism to achieve high-precision movement control of the support frame along the X-axis direction. The redundant design of the dual servo system not only improves the stability of the system, but also ensures the accuracy and consistency during the movement process through synchronous control, meeting the requirements of high-precision position adjustment for large-size electric cylinder assembly. (2) Strong driving force and stability: The dual servo drive motor provides sufficient driving force, which can easily cope with the weight and inertia of the long shaft of the large-size electric cylinder, ensuring that no slippage or jamming occurs during the adjustment process. At the same time, the dual gear rack mechanism has high transmission efficiency and good stability, further enhancing the reliability of the X-axis moving actuator. (3) Efficient transmission and response: The direct cooperation between the servo drive motor and the transmission rack reduces the intermediate links in the transmission chain and improves the transmission efficiency and response speed. This enables the electric cylinder long shaft to be adjusted in the X direction quickly and accurately during the assembly process, thereby improving the assembly efficiency. (4) Compact structure and space optimization: The two sets of rotating support mechanisms share a set of X-axis guide rail modules, which not only saves space resources, but also makes the structure of the entire device more compact and reasonable. This design is conducive to realizing complex three-dimensional position adjustment functions in a limited space, meeting the actual needs of large-size electric cylinder assembly sites. (5) Easy maintenance and upgrade: The modular design makes the various components of the X-axis moving actuator relatively independent, which is convenient for maintenance and replacement. At the same time, with the continuous advancement of technology, key components such as servo drive motors and transmission racks can be easily upgraded to maintain the performance advantages and competitiveness of the device.

[0059] As a preferred embodiment, the Y-direction moving execution component 5 includes a cylinder sliding seat 214 and an electric push rod sliding seat 314 movably mounted on a cylinder support frame and an electric push rod support frame, wherein the sliding direction of the cylinder sliding seat and the electric push rod sliding seat slides along the Y direction, and the bottom of the cylinder sliding seat 214 and the electric push rod sliding seat 314 are respectively arranged with a Y-axis guide rail 1 215 and a Y-axis guide rail 2 315 along the Y-axis direction, and the cylinder support frame and the electric push rod support frame are respectively installed with a Y-axis slider 1 216 and a Y-axis slider 2 316 that cooperate with the Y-axis guide rail 1 and the Y-axis guide rail 2, and the cylinder support frame and the electric push rod support frame are respectively installed with a cylinder sliding seat 214 and an electric push rod sliding seat 314. The push rod support frame is respectively equipped with a Y-axis electric cylinder 1 217 and a Y-axis electric cylinder 2 317 for driving the cylinder sliding seat and the electric push rod sliding seat to slide along the Y-axis direction; the Z-axis moving execution component includes a Z-axis electric cylinder 1 218 and a Z-axis electric cylinder 2 318 respectively installed downward on the cylinder sliding seat and the electric push rod sliding seat, the driving end of the Z-axis electric cylinder 1 218 is connected to the cylinder clamping station 13, and the Z-axis electric cylinder 1 drives the cylinder clamping station to adjust in the Z-axis direction, and the driving end of the Z-axis electric cylinder 2 is connected to the electric push rod clamping station 14, and the Z-axis electric cylinder 2 drives the electric push rod clamping station 14 to adjust in the Z-axis direction.

[0060] Correspondingly, multiple detection modules of the central axis parameter detection module are distributed at one end of the outer side of the cylinder support module, one end of the outer side of the electric push rod assembly module, and the position between the two. Each detection module drives the end detection mechanism to move in three-dimensional space by moving the three-axis execution module to achieve multi-point detection, and can accurately detect the three-dimensional space parameters of the central axis of the cylinder and the electric push rod. Based on these precise parameters, the cylinder support module and the electric push rod assembly module can respectively drive the cylinder and the electric push rod to perform precise position adjustment and rotation of the electric push rod in three-dimensional space, ensuring that the electric push rod is accurately aligned with the central axis of the cylinder, greatly improving the assembly accuracy, effectively reducing the jamming phenomenon during the operation of the electric cylinder, reducing wear, extending the service life of the electric cylinder and improving working performance.

[0061] The detection module includes a moving seat 401 installed on the assembly platform, and a detection head is detachably installed on the moving seat. An X-axis driving mechanism 404, a Y-axis driving mechanism 405, and a Z-axis driving mechanism 406 for driving the detection head to move along the X direction, the Y direction, and the Z direction are installed on the frame. The driving forms of the X-axis driving mechanism, the Y-axis driving mechanism, and the Z-axis driving mechanism are as described above and will not be repeated here. The detection head 402 includes a laser displacement sensor 407 and a contact sensor 408 that cooperate with each other. The laser displacement sensor 407 is used for preliminary position detection, and the contact sensor 408 is used for precise position detection. The laser displacement sensor and the contact sensor are installed in multiple groups and are staggered.

[0062] As a preferred embodiment, the contact sensors are distributed in a "tu" shape facing the detection position, and the laser displacement sensors are installed at the top and bottom positions of the detection head; the above structural design has the following advantages: (1) Comprehensive and accurate detection: When actually detecting shaft-like parts, the distribution of the contact sensors in a "tu" shape facing the detection position plays a key role. Taking the detection of a common stepped shaft as an example, the sensors arranged in a "tu" shape can simultaneously detect key parts such as the cylindrical surface and shaft shoulders of the shaft. Its multiple contacts touch the shaft surface from different angles, enabling a comprehensive perception of the shaft's contour shape and effectively reducing the detection blind area. When detecting the cylindricity error of the shaft, the actual cylindricity can be calculated more accurately through multi-point measurement. Compared with ordinary single-point or simple multi-point contact detection, it greatly improves the accuracy and reliability of detection, providing a solid guarantee for the quality control of shaft-like parts. (2) Efficient collaborative detection: The laser displacement sensors are set at the top and bottom positions of the detection head, and the collaborative work with the "tu"-shaped contact sensors is remarkable. When detecting long shaft-like parts, the laser displacement sensors at the top and bottom can quickly scan the upper and lower contours of the shaft, initially obtaining the approximate position information of the shaft in the vertical direction. For example, when detecting the motor rotor shaft, the laser displacement sensors can quickly determine the bending trend of the shaft, providing a more accurate initial positioning for the precise detection of the contact sensors. Based on this, the contact sensors perform fine measurements, and the two cooperate with each other, further improving the overall detection accuracy, significantly shortening the detection time, and increasing the detection efficiency.

[0063] As a preferred embodiment, a mounting seat 409 is installed on the moving seat 403 corresponding to the position of the detection head, and a plurality of mounting and adjustment holes 403 for fixing the detection head are provided on the mounting seat; when the detection head fails or needs to be replaced with a different type of detection head according to a new detection task, the design of the mounting seat and the mounting and adjustment holes also provides great convenience. For example, when changing from a standard detection head for detecting ordinary shaft-like parts to a special detection head for detecting high-precision aero-engine shafts, the operator can easily disassemble and install the new detection head through the mounting and adjustment holes without making large-scale adjustments to the entire device, shortening the equipment downtime and improving the equipment maintenance efficiency.

[0064] The detection method of the central axis parameter detection module includes the following steps: using the contact sensor in the detection module to detect three or more spatial coordinate points on a cross-sectional circle of the component to be tested, and then using the "three-point circle determination" to calculate the center coordinates, and then moving the detection module along the X direction, selecting one or more cross-sectional circles after a certain distance to repeat the operation to obtain multiple points of "center coordinates", and then connecting the multiple points of "center coordinates" to determine the position of the central axis of the component to be tested in three-dimensional space. The practical application of the above detection method is as follows: As shown in the figure, select cross-sectional circle 1, and detect the spatial coordinates of three points A, B, and C on this cross-sectional circle. Select cross-sectional circle 2, and detect the spatial coordinates of three points D, E, and F on this cross-sectional circle. Upload the coordinate information of the six points to the host computer, and the host computer calculates the spatial coordinates of the center G and the center H respectively. Then the spatial position of the central axis IJ of the cylinder is calculated by the coordinate information of G and H.

[0065] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. An intelligent assembly line for electric cylinders, characterized in that: It includes a loading module and an assembly platform. The assembly platform is provided with a cylinder support module for placing the cylinder, an electric push rod assembly module for placing the electric push rod, and a center axis parameter detection module. The relative distance between the cylinder support module and the electric push rod assembly module can be adjusted. The center axis parameter detection module is used to detect the three-dimensional space parameters of the center axes of the cylinder and the electric push rod. The cylinder support module can drive the cylinder to adjust its position in three-dimensional space. The electric push rod assembly module drives the electric push rod to adjust its position and rotate in three-dimensional space, and assembles the electric push rod into the cylinder on the cylinder support module.

2. The intelligent assembly line of electric cylinders according to claim 1 is characterized in that: The feeding mechanism includes a frame, on which a supporting swing arm is rotatably arranged, a retractable inner supporting arm is coaxially arranged inside the supporting swing arm, a supporting portion is provided on one end of the inner supporting arm, a plurality of supporting swing arms are arranged side by side, and the supporting portions of the plurality of inner supporting arms form a supporting surface for supporting electric cylinder components, a telescopic driving mechanism is provided on the supporting swing arm for driving the inner supporting arm to retract and extend along the length direction of the supporting swing arm, and a rotating driving mechanism is also provided on the frame for adjusting the inclination angle of the supporting swing arm.

3. The electric cylinder intelligent assembly line according to claim 1 is characterized in that: The cylinder support module includes a cylinder support mechanism, a cylinder support frame is movably arranged on the cylinder support mechanism, a cylinder clamping station for clamping the cylinder is arranged on the cylinder support frame, and a moving actuator 1 is arranged on the cylinder support frame for driving the cylinder clamping station to adjust along the X direction, Z direction and Y direction, and the moving actuator 1 drives the cylinder to adjust its position in three-dimensional space.

4. The electric cylinder intelligent assembly line according to claim 1 is characterized in that: The electric push rod assembly module includes an electric push rod rotation support mechanism, an electric push rod support frame is arranged on the electric push rod rotation support mechanism, an electric push rod clamping station for clamping the electric push rod is arranged on the electric push rod support frame, a moving actuator 2 is arranged on the electric push rod support frame for driving the electric push rod clamping station to adjust along the X direction, the Z direction and the Y direction, and the electric push rod rotation support mechanism is also provided with a rotating actuator for driving the electric push rod on the rotating clamping station to rotate, the moving actuator 2 and the rotating actuator drive the electric push rod to adjust the position and rotate in three-dimensional space, so as to realize the assembly of the electric push rod into the cylinder on the cylinder support module.

5. The electric cylinder intelligent assembly line according to claim 1 is characterized in that: The central axis parameter detection module includes a plurality of detection modules, which are respectively arranged at one end of the outer side of the cylinder support module, one end of the outer side of the electric push rod assembly module, and a position between the cylinder support module and the electric push rod assembly module.

6. The electric cylinder intelligent assembly line according to claim 1 is characterized in that: The detection module includes a mobile execution three-axis module movably arranged on a frame, and an end detection mechanism is arranged on the mobile execution three-axis module. The mobile execution three-axis module drives the end detection mechanism to move in three-dimensional space to implement multi-point detection of three-dimensional space positions.

7. The electric cylinder intelligent assembly line according to claim 1 is characterized in that: The first mobile actuator and the second mobile actuator both include an X-axis mobile actuator component, a Y-axis mobile actuator component, and a Z-axis mobile actuator component; the X-axis mobile actuator component includes an X-axis guide rail module arranged on the frame along the X-axis direction, and the cylinder support mechanism and the electric push rod rotation support mechanism share a set of X-axis guide rail modules; the cylinder support frame and the electric push rod support frame are relatively arranged in multiple numbers, and the bottom of the cylinder support frame and the electric push rod support frame are respectively provided with an X-axis slider first and an X-axis slider second that cooperate with the X-axis guide rail module, and the cylinder support frame and the electric push rod support frame are respectively provided with an X-axis driving mechanism first and an X-axis slider second for driving the cylinder support frame and the electric push rod support frame to move along the X-axis guide rail module.

8. The electric cylinder intelligent assembly line according to claim 7 is characterized in that: The X-axis driving mechanism is a dual-servo drive motor driven dual-gear rack mechanism, the X-axis driving mechanism includes transmission racks arranged on the frame at positions on both sides of the corresponding cylinder support frame and the electric push rod support frame, the transmission rack is arranged along the X-axis direction, and the cylinder support frame and the electric push rod support frame are respectively provided with servo drive motor 1 and servo drive motor 2 at positions corresponding to the transmission rack, and the driving ends of the servo drive motor 1 and servo drive motor 2 are connected with drive gear 1 and drive gear 2 that cooperate with the transmission rack; the X-axis guide rail module includes X-axis guide rail 1 and X-axis guide rail 2 arranged on both sides of the corresponding cylinder support frame and the electric push rod support frame on the frame, and the X-axis slider 1 and X-axis slider 2 are both matched and provided with two groups.

9. The electric cylinder intelligent assembly line according to claim 8, characterized in that: The Y-direction moving execution component comprises a cylinder sliding seat and an electric push rod sliding seat movably arranged on a cylinder support frame and an electric push rod support frame. The sliding direction of the cylinder sliding seat and the electric push rod sliding seat slides along the Y direction. The bottom of the cylinder sliding seat and the electric push rod sliding seat are respectively arranged with a Y-axis guide rail 1 and a Y-axis guide rail 2 along the Y-axis direction. The cylinder support frame and the electric push rod support frame are respectively provided with a slider 1 and a slider 2 cooperating with the Y-axis guide rail 1 and the Y-axis guide rail 2. A Y-axis electric cylinder 1 and a Y-axis electric cylinder 2 are separately provided for driving the cylinder sliding seat and the electric push rod sliding seat to slide along the Y-axis direction; the Z-direction moving execution component includes a Z-axis electric cylinder 1 and a Z-axis electric cylinder 2 which are respectively arranged downward on the cylinder sliding seat and the electric push rod sliding seat, the driving end of the Z-axis electric cylinder 1 is connected to the cylinder clamping station, and the Z-axis electric cylinder 1 drives the cylinder clamping station to adjust in the Z-axis direction, and the driving end of the Z-axis electric cylinder 2 is connected to the rotating clamping station, and the Z-axis electric cylinder 2 drives the rotating clamping station to adjust in the Z-axis direction.

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