Router shell clamping manipulator

Abstract

The invention relates to the technical field of clamping manipulators, and discloses a router shell clamping manipulator which comprises a fixed base plate, a clamping mechanism and a reversing mechanism. The reversing mechanism comprises a rotating ring arranged on the side face of the fixed base plate, the side face of the rotating ring is slidably connected with a mounting plate, the end of the mounting plate is provided with a rotating supporting plate, the rotating supporting plate is rotatably connected with the end of an adapter plate, and the adapter plate is connected with a mounting head of the mechanical arm; the clamping mechanism comprises sliding grooves formed in the two symmetrical side edges of the fixed base plate, the sliding grooves are in sliding connection with sliding bases, the sides, away from the rotating ring, of the sliding bases are rotationally connected with L-shaped clamping plates, and the end of the fixed base plate is provided with side edge blocking assemblies for limiting transverse movement of the router shell. A negative pressure adsorption assembly is arranged in the middle of the fixed base plate. According to the invention, the adaptive deflection of the L-shaped clamping plate is set, so that the automatic centering processing of the router shell is realized.

Description

Technical Field

[0001] The invention relates to the technical field of clamping manipulators, in particular to a router shell clamping manipulator. Background Art

[0002] The router housing is an important component that protects the internal electronic components of the router, enhances signal transmission, and optimizes heat dissipation performance. It is usually made of plastic. Since different identification information needs to be printed on the outside of the router housing, during the processing, the router housing needs to be clamped by a robot and flipped and moved horizontally to adapt to different printing steps.

[0003] Since identification information needs to be printed on the surface of the router shell, the robot needs to perform positioning when clamping the router shell. However, the existing clamping robot is only a simple suction cup structure, which means that the conveying device of the assembly line needs to be positioned with the robot. This leads to high positioning accuracy requirements for the conveying equipment. When making automation improvements, the entire conveying equipment needs to be improved, which is costly. Therefore, the existing robot needs to be improved. Summary of the Invention

[0004] The present invention provides a router housing clamping manipulator, which solves the problems raised in the above background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions: A router shell clamping robot comprises a fixed base plate, a clamping mechanism and a reversing mechanism; the reversing mechanism comprises a rotating ring arranged on the side of the fixed base plate, the side of the rotating ring is slidably connected to a mounting plate, the end of the mounting plate is provided with a rotating support plate, the rotating support plate is rotatably connected to the end of an adapter plate, and the adapter plate is connected to the mounting head of a robotic arm; the clamping mechanism comprises a slide groove arranged on two symmetrical sides of the fixed base plate, the slide groove is slidably connected to a sliding seat, the side of the sliding seat away from the rotating ring is rotatably connected to an L-shaped clamping plate, the end of the fixed base plate is provided with a side blocking component for limiting the lateral movement of the router shell, and the middle of the fixed base plate is provided with a negative pressure adsorption component.

[0006] As a preferred technical solution of the present invention, the sliding seat is rotatably connected to the corner of the L-shaped clamping plate, and an end of the L-shaped clamping plate close to the center of the fixed base plate is provided with an arc elbow inclined toward the fixed base plate.

[0007] As a preferred technical solution of the present invention, a bracket is provided on the side of the sliding seat, and the bracket is threadedly connected to a tightening screw rod that cooperates with the fixed base plate.

[0008] As a preferred technical scheme of the present application, the side edge blocking assembly comprises a protruding frame fixedly connected with the fixed base plate, a sliding rod slidingly connected with the protruding frame, and a reset spring externally sleeved with the sliding rod.

[0009] As a preferred technical scheme of the present application, the negative pressure adsorption assembly comprises an adsorption sleeve arranged at the middle part of the fixed base plate, an adsorption sliding rod slidingly connected with one end of the adsorption sleeve away from the reversing mechanism, an adsorption head arranged at one end of the adsorption sliding rod away from the reversing mechanism, a piston plate slidingly connected with the inside of the adsorption sleeve arranged at one end of the adsorption sliding rod close to the reversing mechanism, the adsorption head in communication with the inside of the adsorption sleeve, and an air nozzle arranged at one end of the adsorption sleeve close to the reversing mechanism.

[0010] As a preferred technical scheme of the present application, the mounting plate is provided with a turnover driving assembly driving the rotating ring to slide relative to the mounting plate on one side close to the rotating ring, and the mounting plate is provided with a reversing driving assembly driving the adapter plate to rotate around the end of the rotating support on one side away from the rotating ring. The reversing driving assembly comprises a sliding block fixedly connected with the mounting plate, a sliding rod slidingly connected with the sliding block, and a push block fixedly connected with the middle part of the sliding rod, and the side surface of the push block is rotatably connected with a support rod, and one end of the support rod away from the push block is rotatably connected with the side surface of the adapter plate, and the mounting plate is provided with a reversing cylinder, and the piston rod of the reversing cylinder is fixedly connected with the end of the sliding rod.

[0011] As a preferred technical scheme of the present application, the turnover driving assembly comprises first vertical plates arranged at both ends of the mounting plate, a rotating rod rotatably connected with the end of the first vertical plate, and a driving wheel fixedly connected with the end of the rotating rod, and the two sides of the first vertical plate are provided with second vertical plates, and the second vertical plates are rotatably connected with support wheels, and the support wheels and the driving wheels are arranged on both sides of the rotating ring, and the outer side of the support wheel is provided with a positioning groove matched with the rotating ring. The first vertical plate is rotatably connected with a driving shaft, the mounting plate is provided with a turnover driving motor, the output shaft of the turnover driving motor is fixedly connected with a first pulley, the first pulley is connected with a second pulley through a first belt, the second pulley is fixedly connected with the middle part of the driving shaft, one end of the driving shaft is provided with a third pulley, the third pulley is connected with a fourth pulley through a second belt, and the fourth pulley is fixedly connected with the end of the driving shaft.

[0012] The present application has the following advantages: By setting the adaptive deflection of the L-shaped clamping plate, the automatic centering process of the router shell is realized, so that the clamping mechanical hand can directly clamp the router shell on the conventional conveying belt, and the centering positioning process is completed in the clamping process, so that in the process of automatic improvement of the equipment, only the clamping mechanical hand needs to be improved, and the mechanical arm and the conveying belt can be used with existing equipment, thereby reducing the difficulty and cost of installation and popularization. BRIEF DESCRIPTION OF DRAWINGS

[0013] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced as follows. Obviously, the accompanying drawings in the following description only show some embodiments of the present application, and for those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0014] Figure 1 Structure diagram of a router shell clamping mechanical hand.

[0015] Figure 2 Front view of a router shell clamping mechanical hand.

[0016] Figure 3 Structure diagram of a router shell clamping mechanical hand connected with a mechanical arm.

[0017] Figure 4 Structure diagram of a router shell clamping mechanical hand when a transfer plate and a mounting plate are perpendicular to each other.

[0018] Figure 5 Structure diagram of a router shell clamping mechanical hand when a transfer plate and a mounting plate are parallel to each other.

[0019] Figure 6 Structure diagram of a router shell clamping mechanical hand when a transfer plate and a mounting plate are perpendicular to each other.

[0020] Figure 7 Structure diagram of a router shell clamping mechanical hand when a transfer plate and a mounting plate are perpendicular to each other.

[0021] Figure 8 Front view of Figure 7 .

[0022] Figure 9 Structure diagram of an L-shaped clamping plate in a router shell clamping mechanical hand.

[0023] Figure 10 Left view of Figure 9 .

[0024] Figure 11 Structure diagram of a side edge blocking component in a router shell clamping mechanical hand.

[0025] Figure 12 Structure diagram of a negative pressure adsorption component in a router shell clamping mechanical hand.

[0026] In the figure: 1, fixed base plate; 2, clamping mechanism; 3, reversing mechanism; 4, rotating ring; 5, turnover driving assembly; 6, mounting plate; 7, adapter plate; 8, rotating support plate; 9, support rod; 10, sliding rod; 11, sliding block; 12, push block; 13, reversing cylinder; 14, reversing driving assembly; 15, first vertical plate; 16, rotating rod; 17, driving wheel; 18, second vertical plate; 19, support wheel; 20, turnover driving motor; 21, first pulley; 22, first belt; 23, second pulley; 24, drive shaft; 25, positioning groove; 26, third pulley; 27, second belt; 28, fourth pulley; 29, negative pressure suction assembly; 30, side edge blocking assembly; 31, sliding groove; 32, sliding seat; 33, L-shaped clamping plate; 34, arc elbow; 35, bracket; 36, jacking screw; 37, stop lever; 38, sliding rod; 39, return spring; 40, extension frame; 41, suction head; 42, suction sliding rod; 43, suction sleeve; 44, piston plate; 45, air nozzle; 46, mechanical arm. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0028] In one embodiment, referring to Figures 1-4 and Figures 7-9 A router shell clamping mechanical hand includes a fixed base plate 1, a clamping mechanism 2, and a reversing mechanism 3. The reversing mechanism 3 includes a rotating ring 4 arranged on the side of the fixed base plate 1. The rotating ring 4 is arranged on the upper surface of the fixed base plate 1 on the front and back sides, and the axis of the rotating ring 4 is arranged front-to-back. A mounting plate 6 is slidingly connected to the side of the rotating ring 4. That is, when the rotating ring 4 slides around the side of the mounting plate 6, the fixed base plate 1 can rotate along the part where the rotating ring 4 and the mounting plate 6 are connected. A rotating support plate 8 is arranged at the front end of the mounting plate 6, and the rotating support plate 8 is rotationally connected to the end of the adapter plate 7. From the top, the mounting plate 6 can rotate forward or backward, and the adapter plate 7 can be connected to the mounting head of the mechanical arm 46. The entire adapter plate 7 is moved in space by the mechanical hand. The clamping mechanism 2 comprises a sliding groove 31 arranged on the side of the fixed base plate 1, the sliding groove 31 is arranged in front of and behind, and the sliding groove 31 is arranged on the left and right sides of the front side of the fixed base plate 1 and the left and right sides of the rear side of the fixed base plate 1, and the sliding groove 31 is slidably connected with a sliding seat 32, the lower surface of the sliding seat 32 is rotatably connected with an L-shaped clamping plate 33, the L-shaped clamping plate 33 comprises a horizontal plate arranged in front of and behind and a vertical plate arranged upward and downward, and the side edge blocking assembly 30 is arranged on the left side of the fixed base plate 1. When the side edge blocking assembly 30 contacts with the router shell, the router shell stops moving to the right, so that the positioning effect of the left and right positions of the router shell is realized, and the negative pressure adsorption assembly 29 is arranged on the middle of the fixed base plate 1. The lower end of the negative pressure adsorption assembly 29 can adsorb the upper surface of the router shell, so that the fixed effect is realized.

[0029] In one case of the embodiment, referring to Figure 9 and Figure 10 , the sliding seat 32 is rotatably connected with the corner of the L-shaped clamping plate 33, that is, the horizontal plate and the vertical plate of the L-shaped clamping plate 33 are in contact with the lower surface of the sliding seat 32, and the arc-shaped elbow 34 bent upward is arranged at one end of the L-shaped clamping plate 33 close to the center of the fixed base plate 1. The arc-shaped elbow 34 can better contact with the upper surface of the router shell, and the arc-shaped elbow 34 slides along the upper surface of the router shell, avoiding the horizontal plate of the L-shaped clamping plate 33 scratching the upper surface of the router shell, so that the lower end of the vertical plate moves adaptively towards the center direction of the fixed base plate 1, so that the front and rear positions of the router shell are limited to the center position of the fixed base plate 1, and the positioning effect of the front and rear positions is realized. The sliding seat 32 slides forward and backward along the sliding groove 31 in order to adapt to router shells of different sizes. The bracket 35 is arranged on the upper surface of the sliding seat 32, and the top-tight lead screw 36 matched with the fixed base plate 1 is threadedly connected with the bracket 35. After adjustment is completed, the top-tight lead screw 36 is screwed, and the top-tight lead screw 36 can limit the position of the sliding seat 32 and the sliding groove 31.

[0030] In one case of the embodiment, referring to Figure 7 and Figure 11 , the side edge blocking assembly 30 comprises the protruding frame 40 arranged on the upper surface of the fixed base plate 1, the vertically arranged sliding rod 38 is slidably connected with the upper end of the protruding frame 40, the reset spring 39 is arranged outside the sliding rod 38, the reset spring 39 drives the sliding rod 38 to move downward, the vertically arranged stop rod 37 is fixedly connected with the upper end of the sliding rod 38, and the stop rod 37 is located on the left side of the fixed base plate 1. The reset spring 39 is arranged to enable the stop rod 37 to move upward and downward adaptively. After the fixed base plate 1 moves above the conveying belt, the lower end of the stop rod 37 can abut against the conveying belt, and the upward and downward movement of the stop rod 37 adaptively keeps the state that the stop rod 37 abuts against the conveying belt. The lower end of the stop rod 37 is arc-shaped, avoiding scratching the conveying belt.

[0031] In one instance of the embodiment, please refer to Figure 7 and Figure 12 , the negative pressure adsorption assembly 29 includes an adsorption sleeve 43 fixedly connected to the middle part of the fixed base plate 1, the lower part of the adsorption sleeve 43 is slidingly connected with a vertically arranged adsorption slide rod 42, the lower end of the adsorption slide rod 42 is provided with a suction head 41, the inside of the adsorption sleeve 43 is provided with a cavity, the cavity is slidingly connected with a piston plate 44 fixedly connected with the upper end of the adsorption slide rod 42, the piston plate 44 and the adsorption slide rod 42 are hollow structures, so the suction head 41, the adsorption slide rod 42 and the cavity above the adsorption sleeve 43 are in a conductive state, the upper end of the adsorption sleeve 43 is provided with an air nozzle 45, which can be connected with a gas source device.

[0032] In one instance of the embodiment, please refer to Figure 4 and Figure 6 , the left side of the mounting plate 6 is provided with a turnover driving assembly 5, which can drive the rotating ring 4 to rotate and slide relative to the left side of the mounting plate 6, the right side of the mounting plate 6 is provided with a reversing driving assembly 14, which can adjust the included angle of the mounting plate 6 and the adapter plate 7, that is, make the mounting plate 6 rotate around the adapter plate 7.

[0033] In one instance of the embodiment, please refer to Figure 4 and Figure 6The overturning driving assembly 5 comprises a first vertical plate 15 arranged at the front and rear ends of the mounting plate 6, the end of the first vertical plate 15 is rotationally connected with a front and rear oriented rotating rod 16, the end of the rotating rod 16 close to the center of the mounting plate 6 is provided with a driving wheel 17, the upper and lower sides of the first vertical plate 15 are provided with a second vertical plate 18 fixedly connected with the mounting plate 6, the second vertical plate 18 is rotationally connected with a supporting wheel 19, the supporting wheel 19 is located at the right side of the rotating ring 4, the driving wheel 17 is located at the left side of the rotating ring 4, the clamping of the rotating ring 4 is completed through the two supporting wheels 19 and the driving wheel 17, the positioning groove 25 is arranged outside the supporting wheel 19, the positioning groove 25 can limit the front and rear movement of the rotating ring 4, and the rotating stability of the rotating ring 4 is improved, the right side of the first vertical plate 15 is rotationally connected with a front and rear oriented driving shaft 24, the middle part of the mounting plate 6 is provided with an overturning driving motor 20, the output shaft of the overturning driving motor 20 is fixedly connected with a first pulley 21, the first pulley 21 is connected with a second pulley 23 through a first belt 22, the second pulley 23 is fixedly connected with the middle part of the driving shaft 24, the end of the driving shaft 24 is provided with a third pulley 26, the third pulley 26 is connected with a fourth pulley 28 through a second belt 27, and the fourth pulley 28 is fixedly connected with the end of the driving shaft 24. Therefore, the overturning driving motor 20 drives the driving shaft 24 to rotate through the belt transmission, the driving shaft 24 drives the two driving wheels 17 to rotate synchronously through the belt transmission, and the rotating treatment of the rotating ring 4 is realized.

[0034] In one case of the embodiment, referring to Figure 4 and Figure 5 The reversing driving assembly 14 comprises a sliding block 11 arranged at the right side of the mounting plate 6, the sliding block 11 is slidingly connected with a front and rear oriented sliding rod 10, the middle part of the sliding rod 10 is fixedly connected with a push block 12, the push block 12 is rotationally connected with the rear end of the supporting rod 9, the front end of the supporting rod 9 is rotationally connected with the adapter plate 7, and the reversing cylinder 13 is arranged at the rear side of the mounting plate 6, the piston rod of the reversing cylinder 13 is fixedly connected with the rear end of the sliding rod 10. Therefore, when the piston rod of the reversing cylinder 13 is extended or retracted, the push block 12 pulls the adapter plate 7 and the mounting plate 6 to rotate relative to each other through the supporting rod 9, so that the angle adjustment treatment is realized.

[0035] In the implementation process of the embodiment, the adapter plate 7 is connected with the mounting port of the existing mechanical arm 46, the whole clamping manipulator is moved in space through the mechanical arm 46, the mechanical arm 46 here can adopt the existing mechanical arm 46 in the machining site, the mechanical arm 46 is installed beside the flow line of the router shell production, the air nozzle 45 is connected with the related air source control equipment, and the router shell transfer operation can be performed at this time.

[0036] The clamping manipulator is moved to the top of the conveying belt by the mechanical arm 46, and the fixed base plate 1 is rotated to a horizontal state by the overturning drive motor 20, the fixed base plate 1 is moved downward, the stop lever 37 falls on the top of the conveying belt, at this time, the router shell moves to the left along the conveying belt from right to left, and stops moving to the left when the router shell contacts the stop lever 37, at this time, the fixed base plate 1 is pressed downward, and the L-shaped clamping plate 33 is deflected toward the horizontal state, at this time, the vertical plates of the L-shaped clamping plate 33 on the front and back sides move toward the center of the fixed base plate 1, at this time, the L-shaped clamping plate 33 on the front and back sides pushes the router shell to move toward the center of the fixed base plate 1, so that the positioning of the entire router shell is realized, and in the process of moving the fixed base plate 1 downward, the suction head 41 first contacts the surface of the router shell, the suction head 41 is blocked, a small amount of gas leaks from the contact surface, the air pressure in the suction sleeve 43 increases, and when the vertical plates of the L-shaped clamping plate 33 tightly contact the router shell, the fixed base plate 1 stops moving downward, the gas in the suction sleeve 43 is extracted through the air nozzle 45, the pressure in the suction sleeve 43 changes from positive pressure to negative pressure, and the suction head 41 is adsorbed on the upper surface of the router shell, at this time, the clamping of the entire router shell is completed, at this time, the router shell can be moved by the mechanical arm 46 for subsequent processing steps, and the router shell is reversed by the overturning drive assembly 5 and the reversing drive assembly 14 during movement.

[0037] When the router shell completes the relevant processing steps and needs to be released onto the conveying belt again, the fixed base plate 1 is moved to the top of the conveying belt by the mechanical arm 46, at this time, gas is introduced into the suction sleeve 43 through the air nozzle 45, the piston plate 44 is pushed downward, and the suction slide rod 42 moves downward under the action of the piston plate 44, so that the router shell moves downward relative to the fixed base plate 1, the pressure between the router shell and the L-shaped clamping plate 33 decreases, the horizontal plate of the L-shaped clamping plate 33 rotates downward under the action of gravity, the vertical plate of the L-shaped clamping plate 33 rotates outward, at this time, the L-shaped clamping plate 33 is separated from the router shell, and the negative pressure of the suction head 41 changes to positive pressure, and the suction head 41 is also separated from the router shell, at this time, the router shell falls onto the conveying belt, and the releasing effect is completed.

[0038] The present application provides a router shell clamping manipulator, which is adapted to automatically center the router shell by the deflection of the L-shaped clamping plate 33, so that the clamping manipulator can directly clamp the router shell on the conventional conveying belt, and the centering positioning is completed during clamping, so that only the clamping manipulator needs to be improved in the process of automation improvement, and the mechanical arm 46 and the conveying belt can be used with existing equipment, thereby reducing the difficulty and cost of installation and promotion.

[0039] It will be apparent to those skilled in the art that the application is not limited to the details of the above-exemplified embodiments and that the present application can be implemented in other particular forms without departing from the spirit or essential characteristics of the present application. The embodiments should therefore be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the above description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.

Claims

1. A router housing clamping manipulator, characterized in that: It includes a fixed base plate, a clamping mechanism and a reversing mechanism; The reversing mechanism includes a rotating ring provided on the side of the fixed base plate, the side of the rotating ring is slidably connected to the mounting plate, the end of the mounting plate is provided with a rotating support plate, the rotating support plate is rotatably connected to the end of the adapter plate, and the adapter plate is connected to the mounting head of the robotic arm; The clamping mechanism includes two symmetrical slide grooves arranged on the sides of the fixed base, the slide grooves are slidably connected to the sliding seat, and the sliding seat is rotatably connected to the side away from the rotating ring with an L-shaped clamping plate. The end of the fixed base is provided with a side blocking component that limits the lateral movement of the router shell, and the middle of the fixed base is provided with a negative pressure adsorption component.

2. A router housing clamping manipulator according to claim 1, characterized in that: The sliding seat is rotatably connected to the corner of the L-shaped clamping plate, and an end of the L-shaped clamping plate close to the center of the fixed base plate is provided with an arc elbow inclined toward the fixed base plate.

3. The router housing clamping manipulator according to claim 1, characterized in that: A bracket is provided on the side of the sliding seat, and the bracket is threadedly connected to a tightening screw rod that cooperates with the fixed base plate.

4. The router housing clamping manipulator according to claim 1, characterized in that: The side blocking assembly includes an extension frame fixedly connected to a fixed base plate, the extension frame is slidably connected to a sliding rod, a return spring is sleeved on the outside of the sliding rod, and a stop rod is provided at the end of the sliding rod perpendicular to the fixed base plate.

5. The router housing clamping manipulator according to claim 1, characterized in that: The negative pressure adsorption component includes an adsorption sleeve arranged in the middle of the fixed base plate, the end of the adsorption sleeve away from the reversing mechanism is slidably connected to the adsorption slide rod, the end of the adsorption slide rod away from the reversing mechanism is provided with a suction head, the end of the adsorption slide rod close to the reversing mechanism is provided with a piston plate slidably connected to the inside of the adsorption sleeve, the suction head is communicated with the inside of the adsorption sleeve, and the end of the adsorption sleeve close to the reversing mechanism is provided with an air nozzle.

6. The router housing clamping manipulator according to claim 1, characterized in that: A flip driving assembly for driving the rotating ring to slide relative to the mounting plate is provided on the side of the mounting plate close to the rotating ring, and a reversing driving assembly for driving the adapter plate to rotate around the end of the rotating support plate is provided on the side of the mounting plate away from the rotating ring.

7. A router housing clamping manipulator according to claim 6, characterized in that: The flip drive assembly includes a first vertical plate arranged at both ends of the mounting plate, the end of the first vertical plate is rotatably connected to a rotating rod, the end of the rotating rod is fixedly connected to a driving wheel, a second vertical plate is provided on both sides of the first vertical plate, the second vertical plate is rotatably connected to a supporting wheel, the supporting wheel and the driving wheel are respectively arranged on both sides of the rotating ring, and a positioning groove cooperating with the rotating ring is provided on the outer side of the supporting wheel.

8. The router housing clamping manipulator according to claim 7, characterized in that: The first vertical plate is rotatably connected to the drive shaft, and a flip drive motor is provided on the mounting plate. The output shaft of the flip drive motor is fixedly connected to the first pulley, the first pulley is connected to the second pulley through a first belt, the second pulley is fixedly connected to the middle part of the drive shaft, and a third pulley is provided at the end of the drive shaft, the third pulley is connected to the fourth pulley through a second belt, and the fourth pulley is fixedly connected to the end of the drive shaft.

9. The router housing clamping manipulator according to claim 6, characterized in that: The reversing drive assembly includes a sliding block fixedly connected to the mounting plate, the sliding block is slidably connected to a sliding rod, the middle part of the sliding rod is fixedly connected to a push block, the side of the push block is rotatably connected to a support rod, and the end of the support rod away from the push block is rotatably connected to the side of the adapter plate. A reversing cylinder is provided on the mounting plate, and the piston rod of the reversing cylinder is fixedly connected to the end of the sliding rod.

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