Anti-deviation feeding and conveying device of PACK production line

Abstract

The invention relates to the technical field of feeding and conveying devices, in particular to an anti-deviation feeding and conveying device of a PACK production line, which comprises a conveying belt, a centering assembly is mounted on the conveying belt, the centering assembly comprises two groups of fixing grooves, centering plates are mounted in the two groups of fixing grooves in a sliding manner, and the centering plates are arranged in the fixing grooves. Wherein one side of one set of centering plates is fixedly connected with a push rod, a piston block is fixedly installed on the push rod, a piston pipeline is installed outside the piston block in a sliding mode, one end of the piston pipeline communicates with a first exhaust pipe, one end of the first exhaust pipe is installed in the conveying belt, and an auxiliary assembly is installed on the centering assembly. The battery pack centering device has the advantages that the centering plates are driven by the air cylinders to move mutually, battery packs placed on the conveying belt are centered, and the situation that when the battery packs are conveyed on the conveying belt, displacement occurs, the battery packs collide, and a shell is sunken, cracked or deformed is avoided.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of feeding conveying devices, in particular to a PACK production line anti-deviation feeding conveying device. BACKGROUND

[0002] The PACK production line feeding conveying device is a special device for an automatic battery module or battery pack production line, and mainly functions to accurately and efficiently convey battery monomers, modules or related parts, such as end plates, side plates, connecting plates and the like, from a storage or pretreatment station to a designated assembly position, and seamlessly connect with subsequent processes, so as to realize automation and intelligentization of the production process. At present, in the feeding link of the automatic PACK production line, the battery pack needs to be transferred from the storage to the assembly station through the conveying belt, however, the vibration and acceleration change of the conveying belt during dynamic operation and the insufficient positioning mechanism accuracy cause the battery pack to easily deviate horizontally, slide longitudinally or rotate in a wrong position during the conveying process, so that the battery pack collides with the edge of the conveying belt, the fixing device or other battery packs, and the shell is dented, cracked or deformed. SUMMARY

[0003] The PACK production line anti-deviation feeding conveying device is provided, the centering plates are driven to move by the cylinders, the battery pack placed on the conveying belt is centered, displacement of the battery pack during transportation on the conveying belt is prevented, and the battery pack is prevented from colliding to cause the shell to be dented, cracked or deformed.

[0004] To achieve the above-mentioned purpose, the PACK production line anti-deviation feeding conveying device is provided as follows: a PACK production line anti-deviation feeding conveying device, comprising a conveying belt, a centering assembly is installed on the conveying belt, the centering assembly comprises two groups of fixed grooves, the two groups of fixed grooves are slidably installed with centering plates inside, one side of one group of the centering plates is fixedly connected with a push rod, the push rod is fixedly installed with a piston block, the piston block is slidably installed with a piston pipe outside, one end of the piston pipe is communicated with a first exhaust pipe, one end of the first exhaust pipe is installed inside the conveying belt; An auxiliary assembly is installed on the centering assembly, the auxiliary assembly comprises a water tank and a solution tank, the water tank and the solution tank are slidably installed with a push plate inside, one side of the push plate is fixedly connected with an extension pipe, one end of the extension pipe is fixedly installed on the push rod, one side of the water tank is communicated with a first spray pipe, the first spray pipe is arranged at the end of the conveying belt, one side of the solution tank is communicated with a second spray pipe, and the second spray pipe is arranged on one side of the first spray pipe.

[0005] Preferably, the two groups of fixed grooves are fixedly installed on the two sides of the conveying belt, the two groups of fixed grooves are fixedly installed with cylinders, and the output ends of the cylinders are fixedly installed on one side of the centering plates.

[0006] Preferably, one end of the piston pipe is fixedly installed on one of the groups of fixed slots, one side of the push rod penetrates the piston pipe and is installed on the fixed slot, and one side of the push rod is fixedly connected to the centering plate.

[0007] Preferably, one side of the first exhaust pipe is communicated with a second exhaust pipe, one end of the second exhaust pipe penetrates the fixed slot and is installed thereon, and one end of the second exhaust pipe is located between the first nozzle and the second nozzle.

[0008] Preferably, one end of the push rod is fixedly installed with a connecting frame, and both sides of the connecting frame are fixedly connected with telescopic pipes.

[0009] Preferably, one end of each of the two groups of telescopic pipes penetrates and is installed on the water tank and the solution tank, respectively, and the two groups of push plates move in the water tank and the solution tank, respectively, one end of the telescopic pipe is fixedly connected to the push plate, and a spring is installed in the telescopic pipe.

[0010] Preferably, the water tank and the solution tank are fixedly installed on one of the groups of fixed slots, and a feeding port is arranged on the water tank and the solution tank, and a second valve is arranged on the feeding port.

[0011] Preferably, a fixed frame is arranged at the lower end of the conveying belt, a discharging port is arranged on one side of the fixed frame, a first valve is arranged on the discharging port, and a mechanical hand is installed on the fixed frame.

[0012] Compared with the prior art, the present application has the following advantages: 1. In the present application, two groups of air cylinders are started by the construction personnel to stretch and retract, and the two groups of air cylinders drive the centering plates to move relative to each other, thereby centering the battery pack placed on the conveying belt, preventing displacement of the battery pack during transportation on the conveying belt, and causing the battery pack to collide, resulting in a concave, cracked or deformed shell.

[0013] 2. In the present application, the piston block extrudes the gas in the piston pipe, and then the gas is transmitted to the inside of the conveying belt through the first exhaust pipe to cool the driving rollers and the belt inside the conveying belt, preventing the belt and the driving rollers from constantly rubbing against each other when the conveying belt works for a long time, thereby increasing the temperature between the belt and the driving rollers, causing the battery pack to absorb heat at the bottom center area, forming a temperature gradient, leading to uneven expansion of the battery pack, and causing internal stress.

[0014] 3. The water source in the water tank is sprayed onto the conveying belt through the first spray pipe, which cleans the residual battery liquid on the conveying belt. On the one hand, some battery packs may have defects when produced, and the battery liquid inside the battery pack may leak, causing the battery liquid to leak onto the conveying belt, which may cause multiple influences such as electrochemical corrosion, insulation failure, short circuit risk, mechanical damage, and safety hazards on the next conveying battery pack, and even may cause the battery pack to catch fire or explode. On the other hand, the sprayed water source can assist the gas to be transmitted to the inside of the conveying belt through the first exhaust pipe to improve the heat dissipation efficiency inside the conveying belt.

[0015] 4. The fluoropolymer solution in the solution tank is sprayed onto the cleaned conveying belt through the second spray pipe, so that the fluoropolymer solution uniformly solidifies on the surface of the conveying belt after precise coating process, and a dense functional film with special surface properties is formed. The film shows excellent repelling effect to common polar solvents and non-polar solvents in electrolyte. When electrolyte drops onto the surface of the film, the electrolyte spontaneously forms a spherical shape, and the rolling angle is significantly compressed, which promotes the liquid drop to quickly roll off under slight inclination or vibration conditions, reduces residue, and avoids the adhesion and accumulation of electrolyte on the surface of the conveying belt. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is one of the overall structure schematic diagrams of the present application; Figure 2 It is the second overall structure schematic diagram of the present application; Figure 3 It is a fixed frame sectional view of the present application; Figure 4 It is a centering assembly structure schematic diagram of the present application; Figure 5 It is a first spray pipe and second spray pipe installation position schematic diagram of the present application; Figure 6 It is an auxiliary assembly structure schematic diagram of the present application; Figure 7 It is an auxiliary assembly sectional view of the present application.

[0017] In the figure: 1, conveying belt; 101, fixed frame; 102, first valve; 2, centering assembly; 201, fixed groove; 202, air cylinder; 203, centering plate; 204, push rod; 205, piston block; 206, piston pipe; 207, first exhaust pipe; 208, second exhaust pipe; 3, auxiliary assembly; 301, water tank; 302, solution tank; 303, push plate; 304, telescopic pipe; 306, first spray pipe; 307, second spray pipe; 308, spring; 309, connecting frame; 310, second valve. DETAILED DESCRIPTION

[0018] In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work under the premise that the scope of protection of the present application.

[0019] Referring to Figures 1 to 4 As shown in the drawings, the present application provides a PACK production line anti-deviation feeding and conveying device, which comprises a conveying belt 1, and a centering assembly 2 is installed on the conveying belt 1. The centering assembly 2 comprises two groups of fixed grooves 201, and a centering plate 203 is slidingly installed inside each group of fixed grooves 201. One side of one of the centering plates 203 is fixedly connected with a push rod 204, the push rod 204 is fixedly installed with a piston block 205, the piston block 205 is slidingly installed with a piston pipe 206 outside, one end of the piston pipe 206 is communicated with a first exhaust pipe 207, and one end of the first exhaust pipe 207 is installed inside the conveying belt 1. The construction personnel start the manipulator, the manipulator clamps the battery pack, and places the battery pack on the conveying belt 1 for transmission. At the same time, the construction personnel control the cylinders 202, and the two groups of cylinders 202 synchronously perform the extension and retraction movement. The two groups of cylinders 202 respectively stably drive the two centering plates 203 installed on the two sides to move linearly towards the center area of the conveying belt 1, so that the two groups of centering plates 203 are synchronously attached from the left and right sides of the battery pack, thereby realizing the quick and accurate centering adjustment of the battery pack placed on the specified position on the surface of the conveying belt 1. The displacement of the battery pack during transportation on the conveying belt 1 is prevented, and the collision of the battery pack is avoided, which causes the shell to be concave, cracked or deformed. The manipulator clamping the battery pack is prior art, and different models of manipulators such as joint manipulators can be replaced according to the model of the battery pack; The two groups of cylinders 202 drive the two sides of the centering plates 203 to move close to or away from each other to realize the centering action of the battery pack, and at the same time, one side of the centering plates 203 synchronously drives the push rod 204 connected thereto to move back and forth, and the push rod 204 pushes the piston block 205 to slide back and forth inside the piston pipe 206 during the reciprocating movement, and with the reciprocating movement of the piston block 205, the gas inside the piston pipe 206 is alternately compressed and expanded, thereby forming a gas flow with a certain pressure and flow rate, which is transmitted to the internal cavity structure of the conveying belt 1 through the first exhaust pipe 207, continuously cooling the key transmission components of the conveying belt 1, preventing the temperature between the belt and the driving roller from rising due to the continuous friction between them when the conveying belt 1 works for a long time, so that the bottom center area of the battery pack absorbs heat and forms a temperature gradient, causing the battery cells to swell unevenly and cause internal stress; Referring to Figures 5 to 7 As shown, the centering assembly 2 is provided with an auxiliary assembly 3, and the auxiliary assembly 3 comprises a water tank 301 and a solution tank 302, and the push plate 303 is slidably installed inside the water tank 301 and the solution tank 302, one side of the push plate 303 is fixedly connected with the telescopic pipe 304, one end of the telescopic pipe 304 is fixedly installed on the push rod 204, one side of the water tank 301 is communicated with the first spray pipe 306, and the first spray pipe 306 is arranged at the end of the conveying belt 1, and one side of the solution tank 302 is communicated with the second spray pipe 307, and the second spray pipe 307 is arranged on one side of the first spray pipe 306; When one group of centering plates 203 drives the push rod 204 to move back and forth, the push rod 204 drives the two groups of telescopic pipes 304 to move back and forth through the connecting frame 309 at one end, so that the two groups of telescopic pipes 304 drive the two groups of push plates 303 to move back and forth in the water tank 301 and the solution tank 302, so that the two groups of push plates 303 respectively extrude the water source inside the water tank 301 and the fluorine-containing polymer solution inside the solution tank 302, and then the water source inside the water tank 301 is sprayed onto the conveying belt 1 through the first spray pipe 306 to clean the residual battery liquid on the conveying belt 1, which can prevent some battery packs from leaking battery liquid from the inside during transportation, causing the battery liquid to leak onto the conveying belt 1, causing the residual electrolyte on the conveying belt 1 to cause multiple influences such as electrochemical corrosion, insulation failure, short circuit risk, mechanical damage and safety hazards on the next batch of battery packs, and even causing the battery pack to catch fire or explode, and on the other hand, the sprayed water source can assist the gas to be transmitted to the inside of the conveying belt 1 through the first exhaust pipe 207 to cool, improving the cooling efficiency inside the conveying belt 1; When one end of the push rod 204 drives the two sets of telescopic pipes 304 to reciprocate through the connecting frame 309, so that the two sets of telescopic pipes 304 respectively drive the two sets of push plates 303 to reciprocate between the water tank 301 and the solution tank 302, and squeeze the internal solution, the spring 308 has a large elastic force, and the push rod 204 is not enough to drive the telescopic pipe 304 to expand and contract, so that the push rod 204 drives the telescopic pipe 304 to move, and the push plate 303 reaches the liquid surface of the solution and is limited by the liquid surface, so that the push plate 303 no longer moves, while the push rod 204 continues to move, at this time, the limiting force of the liquid surface is greater than the deformation force of the spring 308 inside the telescopic pipe 304, so that the spring 308 drives the telescopic pipe 304 to expand and contract, without affecting the continuous movement of the push rod 204. When the cleaned conveying belt 1 runs to the second spray pipe 307, the fluoropolymer solution in the solution tank 302 is squeezed by the push plate 303, and the fluoropolymer solution in the solution tank 302 is sprayed onto the cleaned conveying belt 1 through the second spray pipe 307, so that the fluoropolymer solution is uniformly solidified on the surface of the conveying belt 1 through a precise coating process, and a dense functional film with special surface properties is formed. The film shows excellent repelling effect to common polar solvents and non-polar solvents in electrolyte. When electrolyte droplets fall on the surface of the film, the electrolyte spontaneously forms a spherical shape, and the rolling angle is significantly compressed, which promotes the droplets to quickly roll off under slight inclination or vibration conditions, reduces residue, and avoids the adhesion and accumulation of electrolyte on the surface of the conveying belt.

[0020] While the gas is transmitted to the inside of the conveying belt 1 through the first exhaust pipe 207, the first exhaust pipe 207 will transmit part of the gas to the inside of the second exhaust pipe 208, and then transmit it through the second exhaust pipe 208. Since the second exhaust pipe 208 is arranged between the first spray pipe 306 and the second spray pipe 307, on the one hand, it can quickly volatilize the water stains on the conveying belt 1 sprayed by the first spray pipe 306, and on the other hand, it can quickly promote the solidification of the fluoropolymer solution sprayed on the conveying belt 1 by the second spray pipe 307, preventing too much water stains from adhering to the conveying belt 1 and affecting the solidification effect of the fluoropolymer solution. The mixture of the cleaned battery liquid and the water source will fall into the fixed frame 101 for collection. After the fixed frame 101 is full, the construction personnel can open the first valve 102 to make the mixed liquid in the fixed frame 101 flow out, which is convenient for the construction personnel to concentrate on processing the mixed liquid.

[0021] In an optional embodiment, two sets of fixed grooves 201 are respectively fixedly installed on both sides of the conveying belt 1, and a gas cylinder 202 is fixedly installed on each of the two sets of fixed grooves 201.

[0022] It should be noted that the construction personnel through the operation of the cylinder 202, two sets of cylinder 202 synchronous extension movement, so that two sets of cylinder 202 respectively smooth drive both sides of the installation of the centering plate 203 to the center area of the transmission belt 1 to move towards each other.

[0023] In an alternative embodiment, the piston pipe 206 is fixedly installed at one end of one of the fixed grooves 201, the push rod 204 penetrates the piston pipe 206 and is installed with the fixed groove 201, and one side of the push rod 204 is fixedly connected to the centering plate 203.

[0024] It should be noted that the centering plate 203 drives the push rod 204 to move through the piston pipe 206 and the fixed groove 201.

[0025] In an alternative embodiment, the first exhaust pipe 207 is communicated with the second exhaust pipe 208 on one side, the second exhaust pipe 208 is installed at one end of the fixed groove 201, and the second exhaust pipe 208 is located between the first spray pipe 306 and the second spray pipe 307.

[0026] It should be noted that when the gas is input into the inside of the transmission belt 1 through the first exhaust pipe 207, part of the gas is shunted to the second exhaust pipe 208; because the second exhaust pipe 208 is located between the first spray pipe 306 and the second spray pipe 307, the gas flow delivered by the second exhaust pipe 208 can accelerate the volatilization of the water stains sprayed by the first spray pipe 306, and at the same time promote the rapid solidification of the fluorine-containing polymer solution sprayed by the second spray pipe 307.

[0027] In an alternative embodiment, the push rod 204 is fixedly installed with a connecting frame 309 at one end, and the connecting frame 309 is fixedly connected with the telescopic pipe 304 on both sides.

[0028] It should be noted that the push rod 204 drives the two sets of telescopic pipes 304 to reciprocate through the connecting frame 309, so that the two sets of telescopic pipes 304 respectively drive the two sets of push plates 303 to reciprocate in the water tank 301 and the solution tank 302.

[0029] In an alternative embodiment, the two sets of telescopic pipes 304 are respectively installed at one end of the water tank 301 and the solution tank 302, and the two sets of push plates 303 are respectively movable in the water tank 301 and the solution tank 302, the telescopic pipe 304 is fixedly connected to the push plate 303 at one end, and the spring 308 is installed in the telescopic pipe 304.

[0030] It should be noted that the push rod 204 drives the two groups of telescopic pipes 304 to reciprocate through the connecting frame 309, thereby driving the push plate 303 to extrude the solution in the water tank 301 and the solution tank 302. Because the spring 308 has a large elastic force, in the initial stage, the push rod 204 directly drives the telescopic pipe 304 to move. When the push plate 303 reaches the liquid surface and is blocked, the liquid surface limiting force exceeds the deformation force of the spring 308, the spring 308 is compressed to make the telescopic pipe 304 self-adapting telescopic, ensuring that the push rod 204 continues to move without being affected.

[0031] In an optional embodiment, the water tank 301 and the solution tank 302 are fixedly installed on one of the groups of fixed grooves 201. The water tank 301 and the solution tank 302 are each provided with a feeding port, and the feeding port is provided with a second valve 310.

[0032] It should be noted that the construction personnel opens the second valve 310 on the feeding port of the water tank 301 and the solution tank 302 to supplement the liquid in the water tank 301 and the solution tank 302.

[0033] In an optional embodiment, the lower end of the conveying belt 1 is provided with a fixed frame 101. One side of the fixed frame 101 is provided with a discharge port, and the discharge port is provided with a first valve 102. The fixed frame 101 is installed with a mechanical hand.

[0034] It should be noted that the battery liquid and water source mixture after cleaning falls into the fixed frame 101 for collection. When it is full, the construction personnel opens the first valve 102 to make the mixture discharge for centralized treatment.

[0035] Working principle: the construction personnel starts the two groups of air cylinders 202 to expand and contract, and the two groups of air cylinders 202 respectively drive the centering plates 203 to move relative to each other to center the battery pack placed on the conveying belt 1. The two groups of air cylinders 202 respectively drive the centering plates 203 to move relative to each other, and one of the centering plates 203 drives the push rod 204 to reciprocate, and the push rod 204 drives the piston block 205 to reciprocate in the piston pipe 206, so that the piston block 205 extrudes the gas in the piston pipe 206, and then the gas is transmitted to the inside of the conveying belt 1 through the first exhaust pipe 207 to cool the drive roller and the belt in the conveying belt 1. One of the centering plates 203 drives the push rod 204 to reciprocate, and one end of the push rod 204 drives the two groups of telescopic pipes 304 to reciprocate through the connecting frame 309, so that the two groups of telescopic pipes 304 respectively drive the two groups of push plates 303 to reciprocate in the water tank 301 and the solution tank 302, so that the two groups of push plates 303 respectively extrude the water source in the water tank 301 and the fluorine-containing polymer solution in the solution tank 302, and then the water source in the water tank 301 is sprayed onto the conveying belt 1 through the first spray pipe 306 to clean the residual battery liquid on the conveying belt 1. When the cleaned conveying belt 1 runs to the second spray pipe 307, the fluoropolymer solution in the solution tank 302 is sprayed onto the cleaned conveying belt 1 through the second spray pipe 307 due to the extrusion of the push plate 303, so that the fluoropolymer solution is solidified to form a thin film on the conveying belt 1; When the gas is transmitted to the inside of the conveying belt 1 through the first exhaust pipe 207, the first exhaust pipe 207 will transmit part of the gas to the inside of the second exhaust pipe 208, and then the gas is transmitted through the second exhaust pipe 208. Since the second exhaust pipe 208 is arranged between the first spray pipe 306 and the second spray pipe 307, on the one hand, the water stains sprayed on the conveying belt 1 by the first spray pipe 306 can be quickly volatilized, and on the other hand, the fluoropolymer solution sprayed on the conveying belt 1 by the second spray pipe 307 can be quickly solidified.

[0036] Although the embodiments of the present application have been shown and described, it is to be understood that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. An anti-deviating feeding and conveying device for a PACK production line, comprising a conveyor belt (1), characterized in that: A centering assembly (2) is installed on the conveyor belt (1), and the centering assembly (2) includes two groups of fixed grooves (201), and centering plates (203) are slidably installed inside the two groups of fixed grooves (201), and one side of one group of centering plates (203) is fixedly connected to a push rod (204), and a piston block (205) is fixedly installed on the push rod (204), and a piston pipe (206) is slidably installed outside the piston block (205), and one end of the piston pipe (206) is connected to a first exhaust pipe (207), and one end of the first exhaust pipe (207) is installed inside the conveyor belt (1); An auxiliary component (3) is installed on the centering component (2), and the auxiliary component (3) includes a water tank (301) and a solution tank (302). Push plates (303) are slidably installed inside the water tank (301) and the solution tank (302). A telescopic tube (304) is fixedly connected to one side of the push plate (303), and one end of the telescopic tube (304) is fixedly installed on the push rod (204). One side of the water tank (301) is connected to a first nozzle (306), and the first nozzle (306) is arranged at the end of the conveyor belt (1). One side of the solution tank (302) is connected to a second nozzle (307), and the second nozzle (307) is arranged on one side of the first nozzle (306).

2. The anti-deviating feeding and conveying device for a PACK production line according to claim 1, characterized in that: The two groups of fixed grooves (201) are respectively fixedly mounted on both sides of the conveyor belt (1), and a cylinder (202) is fixedly mounted on both groups of fixed grooves (201), and the output end of the cylinder (202) is fixedly mounted on one side of the centering plate (203).

3. The anti-deviating feeding and conveying device for a PACK production line according to claim 1, characterized in that: One end of the piston pipe (206) is fixedly mounted on one of the fixed grooves (201), one side of the push rod (204) passes through the piston pipe (206) and is installed in the fixed groove (201), and one side of the push rod (204) is fixedly connected to the centering plate (203).

4. The anti-deviating feeding and conveying device for a PACK production line according to claim 1, characterized in that: One side of the first exhaust pipe (207) is connected to a second exhaust pipe (208), one end of the second exhaust pipe (208) is installed through the fixing groove (201), and one end of the second exhaust pipe (208) is located between the first nozzle (306) and the second nozzle (307).

5. The anti-deviating feeding and conveying device for a PACK production line according to claim 1, characterized in that: A connecting frame (309) is fixedly mounted on one end of the push rod (204), and telescopic tubes (304) are fixedly connected to both sides of the connecting frame (309).

6. The anti-deviating feeding and conveying device for a PACK production line according to claim 5, characterized in that: One end of the two sets of telescopic tubes (304) is respectively installed through the water tank (301) and the solution tank (302), and the two sets of push plates (303) are respectively movable inside the water tank (301) and the solution tank (302). One end of the telescopic tube (304) is fixedly connected to the push plate (303), and a spring (308) is installed inside the telescopic tube (304).

7. The anti-deviating feeding and conveying device for a PACK production line according to claim 1, characterized in that: The water tank (301) and the solution tank (302) are both fixedly mounted on one of the fixed grooves (201). Both the water tank (301) and the solution tank (302) are provided with a feed inlet, and the feed inlet is provided with a second valve (310).

8. The anti-deviating feeding and conveying device for a PACK production line according to claim 1, characterized in that: A fixed frame (101) is provided at the lower end of the conveyor belt (1), a discharge port is provided on one side of the fixed frame (101), a first valve (102) is provided on the discharge port, and a manipulator is installed on the fixed frame (101).

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