Feeding guide device and method and feeding system

Abstract

The invention belongs to the field of material feeding devices, and particularly relates to a feeding guide device and method and a feeding system. The feeding guide device comprises a moving mechanism and a guide head arranged at the output end of the moving mechanism. The guide head comprises two guide plates capable of rotating relatively, a guide channel is formed between the two guide plates, one ends of the two guide plates are close to each other in the initial state to form a discharging end, and the other ends of the two guide plates are far away from each other to form a feeding end. According to the feeding guiding device, the initial feeding deviation of materials can be automatically corrected, guiding is accurate, the structure is simple, and continuous action can be achieved.

Description

Technical Field

[0001] The present invention belongs to the field of material feeding devices, and in particular relates to a feeding guide device, method and feeding system. Background Art

[0002] Currently, automated loading generally uses vision positioning or mechanical fixture guidance, but these methods present three major challenges: First, vision systems suffer from positioning errors in vibrating and oily environments, resulting in low precision assembly yields; second, traditional guidance mechanisms rely on high-rigidity designs and are unable to adapt to varying workpiece tolerances, frequently causing material jams and downtime; and third, multi-station adaptation requires complex changeover mechanisms, hindering production line upgrades. For small and medium-sized enterprises in particular, the high cost and maintenance difficulty of vision / force control modules are key barriers to widespread automation. This invention aims to address these challenges through purely mechanical innovation. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a feeding guide device, method and feeding system with simple structure and precise guiding.

[0004] The present invention provides a feeding guide device, comprising a moving mechanism and a guide head arranged on the output end of the moving mechanism; The guide head includes two guide plates that can rotate relative to each other, and a guide channel is formed between the two guide plates. In the initial state, one end of the two guide plates is close to each other to form a discharge end, and the other end is relatively far away to form a feed end. When guiding the material, the discharge end of the guide head is aligned with or inserted into the position where the material is to be entered, and the material is inserted into the guide channel from the feed end of the guide head in the initial state. As the material goes deeper into the guide channel, the material will push open the discharge end and enter the position where the material is to be entered from the discharge end.

[0005] Furthermore, it also includes an elastic reset structure; The elastic reset structure is used to make the two guide plates move closer to each other at the discharge end in a natural state; When the material enters from the feed end, the material pushes the two guide plates to overcome the force of the elastic reset structure and rotate outward, so that the discharge end is stretched open for the material to be guided out; After the material leaves the discharging end, the elastic reset structure restores the two guide plates to their natural state.

[0006] Furthermore, the feed end of the guide plate is rotatably connected to the output end of the moving mechanism; The elastic reset structure is an elastic reset element used to drive the guide plate to rotate.

[0007] Furthermore, the guide plate is made of a flexible material; One side of the feed end of the guide plate is fixedly connected to the output end of the moving mechanism, and the rotation is achieved through the flexibility of the guide plate.

[0008] When an elastic reset structure is provided, the elastic reset structure is the guide plate.

[0009] Furthermore, the guide head further comprises two guide bars arranged opposite to each other, each guide bar being provided with a guide plate; The guide plate is arranged at the output end of the moving mechanism through a guide bar.

[0010] Furthermore, the moving mechanism includes a linear moving mechanism I and a linear moving mechanism II provided on the output end of the rotating mechanism, and the guide plate is provided on the output end of the linear moving mechanism II; It also includes a rotating mechanism, which is arranged at the linear motion mechanism I and the linear motion mechanism II, or between the output end of the linear motion mechanism II and the guide plate.

[0011] The present invention also provides a feeding guide method, using the above-mentioned feeding guide device, comprising the following steps: S1, the moving mechanism drives the discharge end of the guide head to align or insert the material into the position where the material is to enter; S2, the material is inserted into the guide channel from the feed end of the guide head in the initial state. As the material goes deeper into the guide channel, the material opens the discharge end and enters the material waiting position from the discharge end.

[0012] The present invention also provides a feeding system, comprising a feeding robot, a material rack and the above-mentioned feeding guide device; The material rack is provided with one or more positions for materials to enter.

[0013] Furthermore, the moving mechanism of the feeding guide device is arranged on the feeding robot or the material rack.

[0014] Furthermore, the loading robot includes a robotic arm, which is used to clamp materials for loading and also to drive the guide head to move.

[0015] The beneficial effect of the present invention is that the feeding guide device provided by the present invention is particularly suitable for strip / block-shaped materials and the position where strip / block-shaped materials are to be entered. In the initial state, one end of the two guide plates is close to each other to form a discharge end, which is convenient for inserting into the position where the materials are to be entered. At this time, the discharge end is directly inserted into the position where the materials are to be entered to form a rigid mechanical constraint, which completely eliminates the position drift during the guiding process, thereby achieving an extremely high guiding success rate. The other ends of the two guide plates in the initial state are relatively far apart to form a feed end. Since the feed end has a wider width in the initial state, it can facilitate the insertion of materials into the guide channel, reducing the insertion accuracy requirements of the materials. The setting of the guide channel can realize the automatic correction of the initial feeding deviation of the material and reduce the accuracy requirements of the feeding robot. The setting of the moving mechanism, on the one hand, facilitates the correspondence between the guide head and the position where the material is to be entered. On the other hand, it can realize guided feeding of multiple material-to-enter positions and achieve continuous operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Attachment Figure 1 It is a structural schematic diagram of the feeding guide device in the present invention; Attachment Figure 2 This is a structural schematic diagram of the guide head of the feeding guide device of the present invention; Attachment Figure 3 This is a schematic structural diagram of the feeding system from a first angle in the present invention; Attachment Figure 4 For attachment Figure 3 A partial enlarged view of point A in the middle; Attachment Figure 5 This is a schematic structural diagram of the feeding system from a second angle in the present invention.

[0017] In the figure, 1-feeding guide device; 101-moving mechanism; 1011-linear moving mechanism I; 1012-rotating mechanism; 1013-linear moving mechanism II; 102-guide head; 1021-guide plate; 10211-guide channel; 10212-discharging end; 10213-feeding end; 1022-guide bar; 1023-sensor; 1024-connecting rod; 1025-handle; 103-positioning mark; 2-feeding robot; 201-robotic arm; 2011-camera; 202-accommodating tank; 3-material rack; 301-material waiting to enter position; 4-material. DETAILED DESCRIPTION

[0018] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0019] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0020] In addition, the terms "first," "second," and so on, used in this disclosure are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referenced. Thus, a feature specified as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this disclosure, "plurality" means at least two, such as two or three, unless otherwise specifically defined.

[0021] In the present invention, unless otherwise specified or limited, the terms "connection" and "fixation" should be understood in a broad sense. For example, "fixation" can mean fixed connection, detachable connection, or integration; it can mean mechanical connection, electrical connection, physical connection, or wireless communication connection; it can mean direct connection or indirect connection through an intermediate medium; it can mean internal communication between two elements or interaction between two elements, unless otherwise specified. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0022] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in this field can implement it. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0023] As attached Figure 1 -Attached Figure 5 As shown, the present invention provides a feeding guide device 1, comprising a moving mechanism 101 and a guide head 102 provided on the output end of the moving mechanism 101; The guide head 102 includes two relatively rotatable guide plates 1021, with a guide channel 10211 formed between the two guide plates 1021. In an initial state, one end of the two guide plates 1021 is close to each other to form a discharge end 10212, and the other end is relatively far away to form a feed end 10213. That is, in an initial state, the guide channel 10211 is a shrinking channel with a width gradually decreasing from wide to narrow in the direction from the feed end 10213 to the discharge end 10212. When guiding the material 4, the discharge end 10212 of the guide head 102 is aligned with or inserted into the material waiting to enter 301. Preferably, when guiding the material 4, the discharge end 10212 of the guide head 102 is inserted into the material waiting to enter 301. Such an arrangement can achieve position limiting of the discharge end 10212 of the guide head 102 during the material 4 loading process, avoid unexpected deviation of the discharge end 10212 during the loading process, and ensure that the loading guide device 1 can accurately allow the material 4 to enter the material waiting to enter 301. Material 4 is initially inserted into guide channel 10211 from the feed end 10213 of guide head 102. As material 4 penetrates deeper into guide channel 10211, it pushes out discharge end 10212 and exits from discharge end 10212. At this point, the width of feed end 10213 of the two guide plates 1021 preferably remains constant (it can also be widened or narrowed), while the width of discharge end 10212 gradually widens until it can accommodate material 4. Finally, material 4 exits discharge end 10212 and enters material entry position 301. In other words, during the guiding phase, guide channel 10211 transforms into a tapering channel, a straight channel, or a trumpet-shaped channel from feed end 10213 to discharge end 10212.

[0024] The feeding guide device 1 provided by the present invention is particularly suitable for strip / block-shaped materials 4 and the position 301 where strip / block-shaped materials are to be inserted. In their initial state, one end of the two guide plates 1021 is close together to form a discharge end 10212, which facilitates insertion into the material-entry position 301. Directly inserting the discharge end 10212 into the material-entry position 301 creates a rigid mechanical constraint, completely eliminating positional drift (drift caused by vibration or external forces) during the guiding process, thereby achieving an extremely high guiding success rate. The other ends of the two guide plates 1021 are initially spaced apart to form an inlet end 10213. Due to its relatively wide initial width, the inlet end 10213 facilitates insertion of the material 4 into the guide channel 10211, reducing the insertion precision requirements for the material 4. The provision of the guide channel 10211 automatically corrects initial feeding deviations of the material 4, reducing the precision requirements for the feeding robot 2. The arrangement of the moving mechanism 101, on the one hand, facilitates the correspondence between the guide head 102 and the material waiting to enter position 301. On the other hand, it can realize the guided loading of multiple material waiting to enter positions 301, and realize continuous operation.

[0025] In one embodiment, an elastic reset structure is further included, wherein the elastic reset member is an element that provides a force to restore the guide plate 1021 to its initial state; The elastic reset structure is used to make the discharge ends 10212 of the two guide plates 1021 move closer to each other in the natural state; When the material 4 enters from the feed end 10213, the material 4 pushes the two guide plates 1021 to rotate outwards, overcoming the force of the elastic reset structure, so that the discharge end 10212 is stretched open, allowing the material 4 to be guided out; After the material 4 leaves the discharge end 10212 , the elastic reset structure restores the two guide plates 1021 to a natural state.

[0026] In this embodiment, the provision of an elastic reset structure allows, on the one hand, the guide head 102 to achieve continuous operation without external control or manual reset. Furthermore, as the material 4 penetrates the guide channel 10211 and pushes the discharge end 10212 open, the two guide plates 1021 provide a reverse reset force, creating a dynamic equilibrium between the thrust of the material 4 and the elastic reset structure. This creates a gradual resistance (non-rigid collision) during the expansion process, preventing the breakage of brittle materials (such as ceramics and glass). Furthermore, if the initial alignment of the material 4 deviates significantly, the elastic reset structure can reversely compress and absorb energy, preventing mechanical damage to the material 4.

[0027] In other embodiments, the rotational reset of the two guide plates 1021 can be achieved by controlling a rotary motor. Compared with the embodiment with a rotary motor, the embodiment with an elastic reset structure has the advantages of simple structure, zero energy consumption, and no jamming.

[0028] In one embodiment, the feed end 10213 of the guide plate 1021 is rotatably connected to the output end of the moving mechanism 101; The elastic reset structure is an elastic reset element for driving the guide plate 1021 to rotate. The elastic reset element can be a torsion spring arranged on the rotation axis of the guide plate 1021, or a tension spring or compression spring arranged between the guide plate 1021 and the output end of the moving mechanism 101.

[0029] In this embodiment, the elastic reset structure is a structure independent of the guide plate 1021, which can ensure that the elastic reset force is provided stably and reliably.

[0030] In one embodiment, the guide plate 1021 is made of a flexible material; One side of the feed end 10213 of the guide plate 1021 is fixedly connected to the output end of the moving mechanism 101 , and the rotation is achieved through the flexibility of the guide plate 1021 .

[0031] In this case, on the one hand, traditional rotating shafts and bearings can be eliminated, and the flexible guide plate 1021 can be directly used for fixed connection to achieve rotatable fit, automatically returning to its original shape after deformation. This can greatly reduce structural complexity and weight, meeting lightweight requirements. On the other hand, the flexible plate can guide the material 4 without damage, providing elastic cushioning during its movement. Furthermore, the flexible material also has a force-relieving effect, preventing deformation and damage to the guide plate 1021 when the material 4 deviates too much during movement. Furthermore, if the gap thickness on either side of the material entry position 301 is limited, the thickness of the flexible guide plate 1021 can be exactly equal to the gap thickness for guidance, or even slightly less. When the thickness of the guide plate 1021 is slightly less than the gap thickness, the flexible guide plate 1021 can compress, preventing damage to the sides of the material 4 and preventing jamming and improper fit.

[0032] When the guide plate 1021 is made of a flexible material and is provided with an elastic reset structure, the elastic reset structure is the guide plate 1021 itself. In this case, the elastic reset structure of a conventional torsion spring, tension spring or compression spring can be substituted to simplify the structure.

[0033] In one embodiment, the guide head 102 further includes two guide bars 1022 disposed opposite to each other, and each guide bar 1022 is provided with a guide plate 1021; The guide plate 1021 is disposed at the output end of the moving mechanism 101 through a guide bar 1022 .

[0034] In this embodiment, the guide bar 1022 is constructed of a rigid structure, which solves the problem of installation stability associated with flexible guide bars 1022. This also facilitates quick replacement of guide plates 1021 with different materials, improving the suitability for multi-product production. In this case, the guide plates 1021 are detachably mounted on the guide bar 1022.

[0035] In one embodiment, the moving mechanism 101 includes a linear moving mechanism I 1011 and a linear moving mechanism II 1013 provided on the output end of the rotating mechanism 1012 , and the guide plate 1021 is provided on the output end of the linear moving mechanism II 1013 ; It also includes a rotating mechanism 1012, which is arranged at the linear moving mechanism I 1011 and the linear moving mechanism II 1013.

[0036] Specifically, the movement mechanism 101 comprises a linear movement mechanism I 1011, a rotation mechanism 1012 disposed at the output end of the linear movement mechanism I 1011, and a linear movement mechanism II 1013 disposed at the output end of the rotation mechanism 1012. The guide plate 1021 is disposed at the output end of the linear movement mechanism II 1013. In this embodiment, the linear movement mechanism I 1011 and the linear movement mechanism II 1013 provide a dual-coordinate movement platform, facilitating movement of the guide head 102 to different material entry positions 301 and alignment of the guide head 102 with the material entry position 301. The rotation mechanism 1012 can actively or passively adjust the angle of the guide head 102. If the angle between the guide head 102 and the material entry position 301 deviates, the rotation mechanism 1012 can adjust the angle. This ultimately enables multi-angle operation in confined spaces.

[0037] Alternatively, the rotating mechanism 1012 is disposed between the output end of the linear motion mechanism II 1013 and the guide plate 1021. In this embodiment, the linear motion mechanism I 1011 and the linear motion mechanism II 1013 are perpendicular to each other. The guide head 102 is secured by two opposing guide bars 1022, the upper ends of which are connected by a connecting rod 1024. The rotating mechanism 1012 is disposed between the connecting rod 1024 and the output end of the linear motion mechanism II 1013 (for example, the main body is disposed at the output end of the linear motion mechanism II 1013, and the rotating axis is disposed on the connecting rod 1024). In this case, the angle of the guide head 102 can be adjusted using the rotating mechanism 1012.

[0038] In addition, the linear moving mechanism I 1011, the rotating mechanism 1012 and the linear moving mechanism II 1013 can be active drive mechanisms, for example, the linear moving mechanism is a linear module, a cylinder or a hydraulic cylinder, and the rotating mechanism 1012 is a rotating motor. In this case, the movement of the guide head 102 is actively driven by the moving mechanism 101. The linear moving mechanism I 1011, the rotating mechanism 1012 and the linear moving mechanism II 1013 can also be non-active drive structures, for example, the linear moving mechanism is a guide rail slider mechanism, and the rotating mechanism 1012 is an articulated structure. In this case, the moving mechanism 101 only serves as a moving bearing mechanism for the guide head 102, and the movement of the guide head 102 can be achieved by the robotic arm 201. At this time, refer to Figure 2 A handle 1025 may be provided on the guide head 102 , and the robotic arm 201 clamps the handle 1025 to drive the guide head 102 to move and adjust the angle under the support of the moving mechanism 101 .

[0039] The present invention also provides a feeding guide method, using the feeding guide device 1, comprising the following steps: S1, the moving mechanism 101 drives the discharge end 10212 of the guide head 102 to align with or insert the material into the position 301 where the material is to enter; S2, the material 4 is inserted into the guide channel 10211 from the feed end 10213 of the guide head 102 in the initial state. As the material 4 goes deeper into the guide channel 10211, the material 4 opens the discharge end 10212 and enters the material waiting entry position 301 from the discharge end 10212.

[0040] The present invention also provides a feeding system, comprising a feeding robot 2, a material rack 3 and the above-mentioned feeding guide device 1; The material rack 3 is provided with one or more material waiting-entry positions 301 .

[0041] In the feeding system provided in this embodiment, the guide head 102 of the feeding guide device 1 is inserted into the material entry position 301 to form a physical stop. When the material 4 passes through, the guide plate 1021 is automatically opened and slides in. This has a high material feeding success rate. The structure is simple and no electronic control is required throughout the process.

[0042] In one embodiment, the moving mechanism 101 of the loading guide device 1 is arranged on the loading robot 2 or the material rack 3.

[0043] In this embodiment, the mobile mechanism 101 can be directly integrated into the loading robot 2 body or the material rack 3, which greatly simplifies the system structure: avoids occupying additional production line space, and is particularly suitable for small working environments.

[0044] In one embodiment, the loading robot 2 includes a robotic arm 201 , which is used to clamp the material 4 for loading and drive the guide head 102 to move.

[0045] In this embodiment, the linear motion mechanism I 1011, the rotation mechanism 1012 and the linear motion mechanism II 1013 can be non-active drive structures, so that the robot arm 201 can be used for multiple purposes, eliminating the hardware cost and control complexity of an independent motion mechanism. The robot arm 201 uses idle degrees of freedom to complete the precise positioning of the guide head 102, avoiding equipment redundancy; at the same time, the material clamping and guiding actions are completed by the same execution unit, eliminating the coordination error between the robot and the guide device in the traditional solution.

[0046] In one embodiment, the moving mechanism 101 of the feeding guide device 1 is set on the material rack 3, and the material rack 3 is set on the mobile cart. In this case, the feeding guide device 1 also includes a positioning mark 103 set on the material rack 3, and the robot arm 201 is also provided with a camera 2011. When the mobile cart drives the material rack 3 to move to the feeding point, the camera 2011 on the robot arm 201 captures the positioning mark 103 on the material rack 3 and obtains the coordinates and angle deviation data of the feeding robot 2 and the mobile cart. At this time, the angle deviation is obtained by the rotating mechanism 1012 and then automatically adjusted to keep the guide head 102 parallel to the position 301 where the material is to be entered. In this embodiment, a accommodating groove 202 is also provided on the feeding robot 2. The accommodating groove 202 can accommodate the moving mechanism 101 and the guide head 102 so that they do not occupy extra space when not in use, and the feeding guide device 1 is physically protected by the accommodating groove 202. In this embodiment, the robotic arm 201 is further provided with a sensor 1023 for monitoring whether the guide head 102 is aligned with the material entry position 301. The sensor 1023 can be a distance sensor, thereby improving the alignment effect of the guide head 102 and the material entry position 301.

[0047] The above description is merely an embodiment and does not limit the present invention in any way. Any person skilled in the art can, without departing from the scope of the technical solution of the present invention, make many possible changes, modifications, or modifications to the technical solution of the present invention into equivalent embodiments with equivalent changes using the technical content disclosed above. Therefore, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the scope of protection of the technical solution of the present invention.

Claims

1. A feeding guide device, characterized in that: It comprises a moving mechanism (101) and a guide head (102) arranged on the output end of the moving mechanism (101); The guide head (102) comprises two relatively rotatable guide plates (1021), a guide channel (10211) being formed between the two guide plates (1021), and in an initial state, one end of the two guide plates (1021) is close to each other to form a discharge end (10212), while the other end is relatively far away to form a feed end (10213); When guiding the material (4), the discharge end (10212) of the guide head (102) is aligned with or inserted into the material waiting entry position (301), and the material (4) is inserted into the guide channel (10211) from the feed end (10213) of the guide head (102) in the initial state. As the material (4) penetrates into the guide channel (10211), the material (4) opens the discharge end (10212) and enters the material waiting entry position (301) from the discharge end (10212).

2. The feeding guide device according to claim 1, characterized in that: Also included is an elastic reset structure; The elastic reset structure is used to make the two guide plates (1021) move closer to each other at the discharge ends (10212) in a natural state; When the material (4) enters from the feed end (10213), the material (4) pushes the two guide plates (1021) to overcome the force of the elastic reset structure and rotate outward, so that the discharge end (10212) is stretched open, allowing the material (4) to be guided and discharged; After the material (4) leaves the discharge end (10212), the elastic reset structure restores the two guide plates (1021) to a natural state.

3. The feeding guide device according to claim 2, characterized in that: The feed end (10213) of the guide plate (1021) is rotatably connected to the output end of the moving mechanism (101); The elastic reset structure is an elastic reset element used to drive the guide plate (1021) to rotate.

4. The feeding guide device according to claim 1 or 2, characterized in that: The guide plate (1021) is made of a flexible material; One side of the feed end (10213) of the guide plate (1021) is fixedly connected to the output end of the moving mechanism (101), and the guide plate (1021) is rotated by the flexible characteristics of the guide plate; When an elastic reset structure is provided, the elastic reset structure is the guide plate (1021).

5. The feeding guide device according to claim 4, characterized in that: The guide head (102) further comprises two guide bars (1022) arranged opposite to each other, and each guide bar (1022) is provided with a guide plate (1021); The guide plate (1021) is arranged at the output end of the moving mechanism (101) via a guide bar (1022).

6. The feeding guide device according to any one of claims 1 to 3 and 5, characterized in that: The moving mechanism (101) comprises a linear moving mechanism I (1011) and a linear moving mechanism II (1013) arranged on the output end of the rotating mechanism (1012), and the guide plate (1021) is arranged on the output end of the linear moving mechanism II (1013); It also includes a rotating mechanism (1012), which is arranged at the linear motion mechanism I (1011) and the linear motion mechanism II (1013), or is arranged between the output end of the linear motion mechanism II (1013) and the guide plate (1021).

7. A feeding guide method, characterized in that: Using the feeding guide device according to any one of claims 1 to 6 comprises the following steps: S1, the moving mechanism (101) drives the discharge end (10212) of the guide head (102) to align with or insert the material into the position (301) where the material is to enter; S2, the material (4) is inserted into the guide channel (10211) from the inlet end (10213) of the guide head (102) in the initial state. As the material (4) penetrates into the guide channel (10211), the material (4) opens the outlet end (10212) and enters the material waiting entry position (301) from the outlet end (10212).

8. A feeding system, characterized in that: It comprises a loading robot (2), a material rack (3), and a loading guide device (1) according to any one of claims 1 to 6; One or more material entry positions (301) are provided on the material rack (3).

9. The feeding system according to claim 8, characterized in that: The moving mechanism (101) of the feeding guide device (1) is arranged on the feeding robot (2) or the material rack (3).

10. The feeding system according to claim 8, characterized in that: The loading robot (2) comprises a mechanical arm (201), and the mechanical arm (201) is used to clamp the material (4) for loading, and is also used to drive the guide head (102) to move.

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