Rotary carrying device

Abstract

According to the rotary carrying device, a first driving mechanism comprises a first driving source and a first driving rod, the first driving rod is connected with a linkage plate, and the first driving source drives the first driving rod to move; the rotating mechanism is fixed on the linkage plate and drives the mounting plate to rotate relative to the first plane; the mounting plate is connected with a floating suction assembly, the floating suction assembly comprises a suction head and a guide column, the suction head comprises a suction nozzle, and the floating suction assembly floats relative to the mounting plate; the pressing mechanism comprises a second driving source and a pressing rod; the stripping mechanism comprises a third driving source and a stripping rod, and the motion trail of the floating suction assembly intersects with the motion trail of the pressing rod and the motion trail of the stripping rod; according to the mechanism, the point-to-point efficiency is achieved, materials are directly taken through a mechanical structure, cut and blanked products do not need to be collected manually any more, and the production efficiency is greatly improved; and through the floating structure, abrasion can be avoided, the accuracy is improved, and the service life is prolonged.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of equipment, in particular to a rotating conveying device. BACKGROUND

[0002] The automobile radar includes a metal sheet, that is, the metal sheet is one of the parts on the automobile radar. The metal sheet is a sheet structure, and the metal sheet is fixed through a material belt structure, that is, a material belt is provided with a plurality of metal sheets arranged at equal intervals. In the automatic processing process, a die processing mode is adopted to separate the metal sheet from the material belt to form a single metal sheet, and then the metal sheet is placed into a semi-finished product by manual operation for fixing operation.

[0003] There are two kinds of traditional die discharging modes. One mode is to push the product cut by stamping out of the die, and the other mode is that the product cut by stamping directly falls from the blanking opening. In the two modes, the following problems exist. After discharging, the product will appear surface scratch due to collision, and the product is dispersed and cannot be effectively collected, which is not conducive to the assembly or processing of the next process. At the same time, since the metal sheet is a sheet structure, bending phenomenon is easy to occur during stacking, which affects the subsequent processing and the performance of the product itself. SUMMARY

[0004] Therefore, the technical problem to be solved by the present application is how to improve the processing efficiency and ensure the quality of the metal sheet. A rotating conveying device comprises: A first driving mechanism, the first driving mechanism comprises a first driving source and a first driving rod, the first driving rod is connected with a linkage plate, the first driving source drives the first driving rod to move along a first direction; A rotating mechanism, the rotating mechanism is fixed to the linkage plate, the rotating mechanism is connected with a mounting plate, the rotating mechanism drives the mounting plate to rotate relative to a first plane; the first plane is vertically arranged with the first direction; the mounting plate is connected with a floating suction assembly, the floating suction assembly comprises a suction head and a guide column, the suction head comprises a suction nozzle, the floating suction assembly is floating relative to the mounting plate; A pressing mechanism, the pressing mechanism comprises a second driving source and a pressing rod, the movement track of the floating suction assembly intersects with the movement track of the pressing rod; A material removing mechanism, the material removing mechanism comprises a third driving source and a material removing rod, the movement track of the floating suction assembly intersects with the movement track of the material removing rod; In the first state, the guide column cooperates with the stamping die, the suction head moves into the stamping cavity of the stamping die, the suction head abuts against the metal sheet, the pressure rod abuts against the floating suction assembly, and the pressure rod applies pressure to the floating suction assembly; the stamping and cutting are completed, the suction nozzle sucks the metal sheet; the rotating mechanism and the first driving mechanism drive the suction head to move above the support seat where the semi-finished product is installed; In the second state, the guide column cooperates with the support seat, and the suction head with the metal sheet moves to the semi-finished product, the metal sheet is fitted with the semi-finished product, and the suction nozzle does not work; the stripping rod is against the floating suction assembly and the stripping rod applies pressure to the floating suction assembly, and the metal sheet is riveted and fixed to the semi-finished product.

[0005] The floating suction assembly includes a base plate, a floating plate, a first contour screw, and a second contour screw. The base plate and the floating plate are connected by a first guide shaft, and the floating plate moves relative to the base plate; the suction head is fixed to the floating plate, one end of the guide column is connected to the floating plate, and the other end of the guide column passes through the mounting plate and the base plate; the mounting plate extends between the base plate and the floating plate, and a steel ball is provided between the mounting plate and the base plate; the mounting plate is provided with a first through hole, and the floating plate is provided with a second through hole, the first contour screw passes through the first through hole and is connected to the base plate, and a first gap is provided between the outer wall of the first contour screw and the inner wall of the first through hole; the second contour screw passes through the second through hole and abuts against the mounting plate, and a second gap is provided between the outer wall of the second contour screw and the inner wall of the second through hole.

[0006] The floating suction assembly includes a limit pin, the mounting plate is provided with a third through hole, one end of the limit pin is connected to the base plate, and the other end of the limit pin extends to the third through hole. A third gap is provided between the outer side wall of the limit pin and the inner side wall of the third through hole, and the third gap is smaller than the first gap and the second gap.

[0007] A first fixing member is fixed to the bottom plate, the steel ball is fixed to the first fixing member, a second fixing member is fixed to the mounting plate, and the second fixing member is against the steel ball.

[0008] An elastic member is provided between the mounting plate and the floating plate.

[0009] The suction head is fixed with an elastic positioning pin, which extends beyond the bottom surface of the suction head and cooperates with the metal sheet; or a riveting groove is provided on the bottom surface of the suction head.

[0010] The bottom plate is provided with a fourth through hole, a side wall of the fourth through hole is provided with a guide groove, and an outer side wall of the suction head is provided with a guide rib matched with the guide groove.

[0011] The rotating mechanism comprises a servo motor and a speed reducer, the servo motor is matched with the speed reducer, an output end of the speed reducer is linked with the mounting plate, and the servo motor is arranged in an inverted mode.

[0012] Further comprising a support plate, a base, and a second guide shaft, the base is located between the linkage plate and the support plate, one end of the second guide shaft is connected with the linkage plate, and the other end of the second guide shaft is connected with the support plate through the base.

[0013] Further comprising a fixing plate, the base is connected and fixed with the fixing plate, the support plate is located above the fixing plate, and the linkage plate is located below the fixing plate.

[0014] The technical scheme of the present application has the following advantages: 1. The rotating conveying device provided by the present application adopts the structure, can directly convey the cut product out of the stamping die, and then directly assemble at the next station, realizes point-to-point efficiency, directly takes the product by the mechanical structure, and no longer needs manual collection of the cut product, greatly improves the production efficiency; the suction head has the effect of sucking the product, and also has the process of cooperating with stamping, forms the positioning and fixing of the product by abutting against the product, better realizes stamping, and improves the stamping efficiency; in addition, the floating suction assembly forms a floating structure, plays an error elimination effect, prevents the suction head from entering the stamping cavity during movement, improves the processing accuracy, and if the mechanisms are hard matched, wear occurs between the mechanisms when an error occurs, the whole equipment is damaged, the wear phenomenon is avoided by the floating structure, the accuracy is improved, and the service life is indirectly improved.

[0015] 2. The rotating conveying device provided by the present application forms a floating effect through the combination of the bottom plate, the floating material plate and the mounting plate, the floating here specifically means that the mounting plate can float within a certain interval range, the floating material plate can float, the mounting plate can drive the whole floating suction assembly to act when the first driving mechanism or the rotating mechanism acts, a movement space is formed due to the first gap and the second gap, thereby playing an adjusting position effect, the suction head is guided under the action of the guide column after the guide column cooperates with the stamping die, and finally enters the stamping cavity, and rubbing between the suction head and the inner wall of the stamping cavity does not occur. In addition, an elastic structure can also be used to form a floating effect, but the elastic structure has the disadvantage that the accuracy cannot be accurately controlled.

[0016] 3. The rotary conveying device provided by the application, the limit pin is arranged to further limit the floating range, so that the floating range is kept within a preset value, and the preset value is 10-100 silk.

[0017] 4. The rotary conveying device provided by the application, the steel ball is arranged to slide between the base plate and the mounting plate, the first fixing member and the second fixing member are arranged to improve the strength of the connection part and prevent the steel ball from affecting the strength of the base plate and the mounting plate due to friction. When the mounting plate moves downward, the mounting plate drives the base plate to move downward through the steel ball, so that a linkage effect is realized.

[0018] 5. The rotary conveying device provided by the application, the elastic member provides elastic buffering effect between the mounting plate and the floating material plate.

[0019] 6. The rotary conveying device provided by the application, the elastic positioning needle is used to cooperate with the metal sheet to realize a positioning effect. The riveting groove is used for cooperation between the metal sheet and the semi-finished product. The semi-finished product has a protrusion on the side cooperating with the metal sheet. When the material removing rod drives the entire floating suction assembly to move toward the semi-finished product, the protrusion cooperates with the riveting groove to form riveting of the metal sheet, so that the metal sheet and the semi-finished product are connected and fixed. When the material suction head is removed, the material suction head will not drive the metal sheet to move.

[0020] 7. The rotary conveying device provided by the application, the guide rib plays a guiding and cooperating effect to prevent large-scale shaking.

[0021] 8. The rotary conveying device provided by the application, the servo motor cooperates with the speed reducer to better realize a driving effect. Compared with the instability of the cylinder transmission, the servo motor transmission is more stable. Moreover, the servo motor is inverted, which can save installation space and reduce the overall height. The speed reducer plays a speed reduction effect, so that the rotation angle can be more accurately controlled.

[0022] 9. The rotary conveying device provided by the application, the support plate, the base and the linkage plate cooperate to realize the movement effect of the linkage plate. The first driving mechanism drives the linkage plate to move, and the support plate plays a supporting and limiting effect to improve the stability of the overall driving.

[0023] 10. The rotary conveying device provided by the application, the fixed plate plays a whole fixing effect. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the specific embodiments of the present application or the prior art, the drawings needed to be used in the specific embodiments or prior art description will be briefly introduced as follows. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0025] Figure 1 Structure diagram of the material belt provided with metal sheets in the present application; Figure 2 Structure diagram of the rotary conveying device provided in the present application; Figure 3 Sectional view of the rotary conveying device provided in the present application; Figure 4 Side view of the rotary conveying device provided in the present application; Figure 5 Structure diagram of the mounting plate cooperating with the floating suction assembly provided in the present application; Figure 6 Sectional view of the mounting plate cooperating with the floating suction assembly provided in the present application; Figure 5 Figure 7 Enlarged view of A part in the mounting plate cooperating with the floating suction assembly provided in the present application; Figure 6 Figure 8 Enlarged view of B part in the mounting plate cooperating with the floating suction assembly provided in the present application; Figure 6 Figure 9 Sectional view of the mounting plate cooperating with the floating suction assembly provided in the present application from another angle; Figure 5 Figure 10 Sectional view of the mounting plate cooperating with the floating suction assembly provided in the present application from another angle. Figure 5

[0026] Explanation of reference signs: ​​​​​11, first driving mechanism; 12, linkage plate; 13, rotating mechanism; 14, mounting plate; 15, floating suction assembly; 16, stamping die; 17, bearing; 18, pressing mechanism; 19, stripping mechanism; 20, metal sheet; 22, air pipe joint; 23, fixed plate; 24, support plate; 25, base; 26, second guide shaft; 27, stand; 111, first driving source; 112, first driving rod; 131, servo motor; 132, speed reducer; 141, first through hole; 142, first gap; 143, third through hole; 151, suction head; 152, guide column; 153, suction nozzle; 154, bottom plate; 155, floating material plate; 156, first equal-height screw; 157, second equal-height screw; 158, first guide shaft; 159, steel ball; 150, limit pin; 161, stamping cavity; 162, upper die; 163, lower die; 171, matching column; 181, second driving source; 182, pressing rod; 191, third driving source; 192, stripping rod; 201, material belt; 211, first fixing piece; 212, second fixing piece; 213, elastic piece; 1511, elastic positioning needle; 1512, riveting groove; 1513, guide rib; 1541, fourth through hole; 1542, guide groove; 1551, second through hole; 1552, second gap; 1501, third gap. DETAILED DESCRIPTION

[0027] The technical solutions of the present application will be described clearly and completely below in conjunction with the drawings. Obviously, the described embodiments are 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 labor fall within the scope of protection of the present application.

[0028] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third" are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0029] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0030] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0031] Example 1 This embodiment provides a rotary transport device, as shown in the attached Figures 1-10 Shown, including: The first drive mechanism 11 includes a first drive source 111 and a first drive rod 112. The first drive rod 112 is connected to the linkage plate 12. When the first drive rod 112 moves, the linkage plate 12 also moves. The first drive source 111 drives the first drive rod 112 to move in a first direction. That is, when the first drive source 111 is in motion, the first drive source 111 drives the first drive rod 112 to move, and the first drive rod 112 drives the linkage plate 12 to move.

[0032] The rotating mechanism 13 is fixed to the linkage plate 12, and the fixing specifically means that the rotating mechanism 13 moves as a whole when the linkage plate 12 moves. The rotating mechanism 13 is connected to the mounting plate 14, and the rotating mechanism 13 drives the mounting plate 14 to rotate. In this embodiment, the rotating mechanism 13 drives the mounting plate 14 to rotate relative to the first plane. The first plane is perpendicular to the first direction, and in this embodiment, the first plane specifically refers to the plane formed by the X and Y axes (equivalent to the horizontal plane), and the first direction is the direction of the Z axis, that is, the first driving rod 112 and the linkage plate 12 move along the Z axis direction. The mounting plate 14 is arranged parallel to the horizontal plane, and the mounting plate 14 rotates relative to the horizontal plane, that is, the mounting plate 14 rotates in the horizontal direction. The mounting plate 14 is connected to the floating suction assembly 15, and the floating suction assembly 15 includes a suction head 151 and a guide column 152. The suction head 151 includes a suction nozzle 153, and the suction nozzle 153 is located on the bottom surface of the suction head 151. Here, the suction nozzle 153 specifically refers to the suction nozzle 153 for vacuum adsorption, and the suction nozzle 153 cooperates with an external vacuum system to achieve the effect of adsorption fixation. The suction nozzle 153 is one of the components of the suction head 151, and the suction nozzle 153 sucks the metal sheet 20, which is equivalent to the suction head 151 sucking the metal sheet 20. The floating suction assembly 15 is floating relative to the mounting plate 14. The relative floating can be that the floating suction assembly 15 is fixedly arranged and the mounting plate 14 is floatingly arranged, or that the floating suction assembly 15 is floatingly arranged and the mounting plate 14 is fixedly arranged. Here, the floating can be in the horizontal direction, forward, backward, left, and right floating, or Z-axis direction upward and downward floating, which can be adjusted according to actual needs by those skilled in the art. In this embodiment, the floating is arranged mainly to eliminate errors, that is, the errors between the suction head 151 and the stamping cavity 161 and the seat 17. Specifically, due to the control of precision, it is impossible to ensure that the center axis of the suction head 151, the center axis of the stamping cavity 161, and the center axis of the seat 17 are coaxially arranged during equipment processing and assembly, and deviation will also occur during movement. Through the floating arrangement, the deviation can be eliminated, and the cooperation between the suction head 151 and the stamping cavity 161 and the cooperation between the suction head 151 and the seat 17 can be better achieved. It should be noted that under the action of the first driving mechanism 11 and the rotating mechanism 13, the floating suction assembly 15 can move up and down along the Z axis direction and can rotate relative to the horizontal plane through the transmission cooperation of the linkage plate 12 and the mounting plate 14.

[0033] The pressing mechanism 18 comprises a second driving source 181 and a pressing rod 182. The second driving source 181 drives the pressing rod 182 to move. Here, the pressing rod 182 moves along the first direction, that is, the pressing rod 182 moves along the Z-axis direction. The movement track of the floating suction assembly 15 intersects with the movement track of the pressing rod 182. When the floating suction assembly 15 rotates to the vertical below of the pressing rod 182, the pressing rod 182 moves vertically downward. At this time, the lower end of the pressing rod 182 abuts against the floating suction assembly 15.

[0034] The stripping mechanism 19 comprises a third driving source 191 and a stripping rod 192. The third driving source 191 drives the stripping rod 192 to move. Here, the stripping rod 192 moves along the same direction as the pressing rod 182, that is, the stripping rod 192 moves along the first direction, that is, the stripping rod 192 moves along the Z-axis direction. The movement track of the floating suction assembly 15 intersects with the movement track of the stripping rod 192. When the floating suction assembly 15 rotates to the vertical below of the stripping rod 192, the stripping rod 192 moves vertically downward. At this time, the lower end of the stripping rod 192 abuts against the floating suction assembly 15.

[0035] The first state is that the guide column 152 cooperates with the stamping die 16. The cooperation specifically refers to that the stamping die 16 is provided with a hole cooperating with the guide column 152, the guide column 152 can be inserted into the hole to form a guiding and positioning effect, and then the floating fine adjustment of the floating suction assembly 15 makes the suction head 151 better move into the stamping cavity 161 of the stamping die 16, that is, the guide column 152 cooperates with the stamping die 16 first, and then the suction head 151 abuts against the metal sheet 20. The suction head 151 abuts against the metal sheet 20, the metal sheet 20 is in a strip structure, enters into the stamping cavity 161, that is, a metal sheet 20 is just located in the stamping cavity 161, and then the suction head 151 abuts against the metal sheet 20. When the stamping of the metal sheet 20 is completed, the strip 201 moves, and the adjacent metal sheet 20 enters into the stamping cavity 161, thereby forming a continuous stamping effect. In the embodiment, the movement direction of the suction head 151 to the stamping cavity 161 is opposite to the stamping direction of the stamping head. For example, the suction head 151 moves downward along the Z-axis direction, and the stamping head of the stamping die 16 moves upward along the Z-axis direction. Conversely, when the suction head 151 moves upward along the Z-axis direction, the stamping head of the stamping die 16 moves downward along the Z-axis direction. In the embodiment, the stamping head is taken as an example, which stamps upward along the Z-axis direction, that is, stamps from bottom to top. The stamping mode cooperates with the rotary conveying device in the embodiment, so that the occupied space of the whole machine is optimized, and the distribution is more reasonable. In the embodiment, the guide column 152 moves downward along the Z-axis direction, which is realized by the work of the first driving mechanism 11. The movement of the first driving rod 112 drives the whole linkage plate 12 to move downward along the Z-axis direction. The rotary mechanism 13 and the mounting plate 14 move downward along with the movement of the linkage plate 12. The mounting plate 14 drives the floating suction assembly 15 to move downward along the Z-axis direction. At this time, the guide column 152 forms a movement effect, thereby realizing the movement effect of the first driving mechanism 11 driving the guide column 152 and the suction head 151. The pressing rod 182 abuts against the floating suction assembly 15 and applies pressure to the floating suction assembly 15, thereby forming a pressing effect and preventing the stamping head from affecting the floating suction assembly 15 above during the impact process. Since the stamping die 16 and the stamping head are prior art, the specific structure of the stamping die 16 is not embodied in detail in the drawings. At the same time, the strip 201 is fed in the horizontal direction. The strip 201 can be driven by a tray rotation or a cylinder or oil cylinder to form a stamping and cutting work of one metal sheet 20, which is prior art and is not embodied in the drawings. After the stamping and cutting are completed, the suction head 151 sucks the metal sheet 20. At this time, the suction nozzle 153 works to realize a suction effect. After the stamping and cutting are completed, the stamping head is recovered, the strip 201 is moved, and the next stamping is prepared.When the suction head 151 sucks the metal sheet 20, the second driving source 181 drives the pressing rod 182 to move upward along the Z-axis direction, canceling the pressure on the floating suction assembly 15, and then the first driving mechanism 11 works, the first driving rod 112 drives the whole linkage plate 12 to move upward along the Z-axis direction, so that the suction head 151 is removed from the punching cavity 161. When the suction head 151 is separated from the punching cavity 161, the rotating mechanism 13 drives the mounting plate 14 to rotate, so that the suction head 151 moves to the upper side of the seat 17 on which the semi-finished product is mounted. The first station is the punching die 16, and the second station is the seat 17. The first station is used for cutting and sucking the metal sheet 20, and the second station is used for placing the metal sheet 20 and riveting the metal sheet 20 and the semi-finished product.

[0036] The second state is that the guide column 152 cooperates with the seat 17. The cooperation between the guide column 152 and the seat 17 is also the cooperation between the guide column 152 and the hole. The seat 17 is provided with a hole matched with the guide column 152. The guide column 152 passes through the hole to achieve a guiding effect. The guide column 152 and the suction head 151 also achieve the effect of moving downward along the Z-axis direction through the first driving mechanism 11. The suction head 151 with the metal sheet 20 moves to the semi-finished product, so that the metal sheet 20 is attached to the semi-finished product. At this time, the suction nozzle 153 does not work, that is, there is no suction effect between the metal sheet 20 and the suction head 151. However, in fact, there is still a certain electrostatic adsorption between them. If the suction head 151 directly moves upward along the Z-axis direction, the suction head 151 will cause a certain deviation of the metal sheet 20, thereby affecting the subsequent work. The third driving source 191 drives the stripping rod 192 to move downward along the Z-axis direction. The stripping rod 192 abuts against the floating suction assembly 15, and the stripping rod 192 applies a pressure to the floating suction assembly 15, so that the metal sheet 20 is riveted and fixed with the semi-finished product. It should be noted that during the punching and cutting process, the punching head does not cause the metal sheet 20 to deform. At this position, after the metal sheet 20 is attached to the semi-finished product, the downward force is applied to the metal sheet 20 through the stripping rod 192, so that the semi-finished product and the metal sheet 20 are deformed, and the riveting and fixing effect is formed between the semi-finished product and the metal sheet 20. The riveting mode can be the cooperation between the protrusion and the groove, or other riveting modes. By adopting this structure, the cut product can be directly carried out from the inside of the punching die 16, and then assembled at the next position. This mechanism realizes the point-to-point efficiency. The product is directly taken by the mechanical structure, and manual collection of the cut product is not needed, which greatly improves the production efficiency. The suction head 151 has the effect of sucking the product and also has the effect of cooperating with the punching process. The suction head 151 abuts against the product to form the positioning and fixing of the product, better realizes the punching, and improves the punching efficiency. Furthermore, the floating suction assembly 15 forms a floating structure to eliminate the error effect, prevent the suction head 151 from entering the punching cavity 161 during the movement process, and improve the processing accuracy. If the cooperation between the several mechanisms is hard, the mechanisms are easy to wear when an error occurs, which causes the entire equipment to be damaged. By adopting the floating structure, the wear phenomenon can be avoided, the accuracy is improved, and the service life is indirectly improved.

[0037] Specifically, as shown in the accompanying drawings Figures 2-10As shown, the floating suction assembly 15 includes a bottom plate 154, a floating material plate 155, a first equal height screw 156, a second equal height screw 157, the bottom plate 154 and the floating material plate 155 are connected through a first guide shaft 158, the floating material plate 155 is located above the bottom plate 154, the number of the first guide shaft 158 can be adjusted according to actual needs, in the embodiment, the number of the first guide shaft 158 is four, that is, four first guide shafts 158 connect the bottom plate 154 and the floating material plate 155, and the first guide shaft 158 is a precision guide shaft. The floating material plate 155 moves relative to the bottom plate 154, the floating material plate 155 is movably arranged, and the bottom plate 154 is fixedly arranged, the floating material plate 155 can move towards the bottom plate 154 along the Z-axis direction, but when the bottom plate 154 moves, the floating material plate 155 moves with the bottom plate 154. The suction head 151 is fixed to the floating material plate 155, one end of the suction head 151 is connected and fixed to the floating material plate 155, the connection and fixing mode can be bolted, the other end of the suction head 151 extends downward through the mounting plate 14 and the bottom plate 154, it should be noted that the suction head 151 only passes through the mounting plate 14 and the bottom plate 154, and the suction head 151 and the mounting plate 14 and the bottom plate 154 are not connected and fixed. One end of the guide column 152 is connected to the floating material plate 155, and the other end of the guide column 152 extends downward through the mounting plate 14 and the bottom plate 154. The mounting plate 14 extends between the bottom plate 154 and the floating material plate 155, and the steel ball 159 is arranged between the mounting plate 14 and the bottom plate 154, the steel ball 159 connects the mounting plate 14 and the bottom plate 154, so that the sliding connection effect is formed between the two, that is, the mounting plate 14 can slide relative to the bottom plate 154. The mounting plate 14 is provided with a first through hole 141, the floating material plate 155 is provided with a second through hole 1551, the first equal height screw 156 passes through the first through hole 141 and is connected to the bottom plate 154, a first gap 142 is arranged between the outer wall of the first equal height screw 156 and the inner wall of the first through hole 141, the first equal height screw 156 defines the position height between each position of the mounting plate 14 and the bottom plate 154, and forms the parallel effect of the mounting plate 14 and the bottom plate 154. At this time, the first equal height screw 156 is connected and fixed to the bottom plate 154, at this time, the mounting plate 14 is movably arranged, and the mounting plate 14 can form a floating effect through the first gap 142, that is, the top surface of the mounting plate 14 is limited in height by the first equal height screw 156, and the bottom surface of the mounting plate 14 is limited by the steel ball 159, at this time, the mounting plate 14 can only float in the horizontal direction.The second high screw 157 abuts against the mounting plate 14 through the second through hole 1551, and a second gap 1552 is arranged between the outer wall of the second high screw 157 and the inner wall of the second through hole 1551, and the second high screw 157 further limits the positional relationship of the mounting plate 14, and here the second high screw 157 limits the highest position of the floating material plate 155 in the Z-axis direction, and the floating material plate 155 can move relative to the mounting plate 14 and the bottom plate 154, that is, the floating material plate 155 can float in the Z-axis direction, and the arrangement of the second gap 1552 enables the floating material plate 155 to also float in the horizontal direction, and when the floating material plate 155 can float, the suction head 151 connected with the floating material plate 155 can also float. Through the combination of the bottom plate 154, the floating material plate 155 and the mounting plate 14, a floating effect is formed, and here the floating specifically refers to that the mounting plate 14 can float within a certain interval range, and the floating material plate 155 can float, and when the first driving mechanism 11 or the rotating mechanism 13 acts, the mounting plate 14 can drive the entire floating suction assembly 15 to act, and due to the arrangement of the first gap 142 and the second gap 1552, a movement space is formed, thereby achieving an adjusting effect. After the guide column 152 cooperates with the stamping die 16, the suction head 151 is guided under the action of the guide column 152, and finally the suction head 151 enters the stamping cavity 161, and the rubbing between the suction head 151 and the inner wall of the stamping cavity 161 does not occur. In addition, an elastic structure can also be used to form a floating effect, but the disadvantage of the elastic structure is that the precision cannot be accurately controlled.

[0038] Specifically, as shown in the accompanying drawings, Figures 5-10 The floating suction assembly 15 includes a limiting pin 150, the mounting plate 14 is provided with a third through hole 143, one end of the limiting pin 150 is connected with the bottom plate 154, the other end of the limiting pin 150 extends to the third through hole 143, a third gap 1501 is arranged between the outer wall of the limiting pin 150 and the inner wall of the third through hole 143, and the third gap 1501 is smaller than the first gap 142 and the second gap 1552. The arrangement of the limiting pin 150 further limits the floating range, so that the floating range is maintained within a preset value, and here the preset value is 10-100 silk. The values of the first gap 142 and the second gap 1552 can be adjusted according to actual needs, and in the embodiment, the entire floating range cannot be infinite, and at least it is ensured that the guide column 152 can cooperate with the lower stamping die 16 or the bearing 17 for guidance during the guiding process, and then through the small-range floating, the floating suction assembly 15 can accurately move downward, so that the suction head 151 enters the corresponding position.

[0039] Specifically, as shown in the accompanying drawings, Figures 5-10As shown, the number of limit pins 150 is two, the two limit pins 150 are diagonally arranged, and the imaginary connecting line of the two limit pins 150 and the imaginary connecting line of the two guide columns 152 form an X-shaped connecting line, that is, a cross connecting line. In addition, those skilled in the art can adjust the number of limit pins 150 according to actual needs.

[0040] Specifically, the number of first high screws 156 is four, and the four first high screws 156 are distributed on the four corners.

[0041] Specifically, the number of second high screws 157 is two, and the two second high screws 157 are symmetrically arranged.

[0042] Specifically, as shown in the accompanying drawings, Figures 5-10 As shown, the bottom plate 154 is fixed with a first fixing member 211, and the steel ball 159 is fixed to the first fixing member 211. Here, the first fixing member 211 is provided with a groove matched with the steel ball 159, and the steel ball 159 is fixed in the groove, so that only the rolling effect can be achieved. The steel ball 159 cannot move along the Z-axis direction relative to the bottom plate 154, nor can it move along the X and Y axes relative to the bottom plate 154. The steel ball 159 can only roll relative to the first fixing member 211. The first fixing member 211 and the steel ball 159 form a modular fixing, which improves the convenience of assembling the entire device; and when the steel ball 159 is damaged, it can be quickly repaired and replaced. The mounting plate 14 is fixed with a second fixing member 212, which is connected and fixed with the bottom surface of the mounting plate 14. The second fixing member 212 abuts against the steel ball 159. The strength of the second fixing member 212 is greater than that of the mounting plate 14, and when the second fixing member 212 is damaged, only the second fixing member 212 needs to be replaced. The steel ball 159 serves as a sliding connection between the bottom plate 154 and the mounting plate 14. The arrangement of the first fixing member 211 and the second fixing member 212 improves the strength of the connection and prevents the steel ball 159 from being affected by friction, thereby affecting the strength of the bottom plate 154 and the mounting plate 14. When the mounting plate 14 moves downward, the mounting plate 14 drives the bottom plate 154 to move downward through the steel ball 159, achieving a linkage effect. In this embodiment, one first fixing member 211, one steel ball 159, and one second fixing member 212 form a group. There are four groups in total, and the four groups of structures are arranged at the center positions of the top surface of the bottom plate 154 near the front side, the top surface of the bottom plate 154 near the rear side, the top surface of the bottom plate 154 near the left side, and the top surface of the bottom plate 154 near the right side, respectively. The four groups of structures form a diamond structure, which better realizes the balance of the bottom plate 154 and the mounting plate 14 and ensures the stability of each position.

[0043] Specifically, as shown in the accompanying drawings, Figures 5-10As shown, the elastic member 213 is arranged between the mounting plate 14 and the floating material plate 155. The elastic member 213 provides elastic buffering effect between the mounting plate 14 and the floating material plate 155. Here, the number of elastic members 213 is two, and the two elastic members 213 are symmetrically arranged. Here, the elastic member 213 can be a spring, or can be made of rubber material, or can be made of other elastic material.

[0044] Specifically, as shown in the accompanying drawings, Figures 5-10 As shown, the suction head 151 is fixed with an elastic positioning needle 1511, the elastic positioning needle 1511 protrudes from the bottom surface of the suction head 151, and the elastic positioning needle 1511 can be elastically contracted. When the elastic positioning needle 1511 collides with an object, the elastic positioning needle 1511 can be contracted into the suction head 151. In this embodiment, the elastic positioning needle 1511 cooperates with the metal sheet 20, and the metal sheet 20 is provided with a hole cooperating with the elastic positioning needle 1511. Here, the number of elastic positioning needles 1511 is two. Alternatively, the bottom surface of the suction head 151 is provided with a riveting groove 1512, and the riveting groove 1512 is used for riveting the metal sheet 20. Here, the number of riveting grooves 1512 can be selected according to actual needs. The elastic positioning needle 1511 is used to cooperate with the metal sheet 20 to achieve a positioning effect. The riveting groove 1512 is used for cooperation between the metal sheet 20 and the semi-finished product. When the metal sheet 20 cooperates with the semi-finished product, the side of the semi-finished product cooperating with the metal sheet 20 has a protrusion. When the floating suction assembly 15 driven by the stripping rod 192 moves towards the semi-finished product, the protrusion cooperates with the riveting groove 1512 to form riveting of the metal sheet 20, thereby achieving connection and fixation between the metal sheet 20 and the semi-finished product. When the suction head 151 is removed, the suction head 151 will not move the metal sheet 20.

[0045] Specifically, as shown in the accompanying drawings, Figure 5 As shown, the bottom plate 154 is provided with a fourth through hole 1541, and the edge wall of the fourth through hole 1541 is provided with a guide groove 1542. The suction head 151 extends downward through the mounting plate 14 and then through the fourth through hole 1541, and the outer edge wall of the suction head 151 is provided with a guide rib 1513 cooperating with the guide groove 1542. The guide rib 1513 has a guiding effect to prevent large-scale shaking. It should be noted that the guide rib 1513 and the guide groove 1542 are not in contact, but have a gap therebetween, so that the suction head 151 has a floating effect.

[0046] Specifically, the number of floating suction assemblies 15 connected with the mounting plate 14 can be one, two or more. When the number of floating suction assemblies 15 is two or more, it is preferred to adopt a circumferential array distribution, which can realize the synchronous operation of punching and stripping riveting. That is, the mounting plate 14 moves downward as a whole, one station performs punching operation, and the other station performs stripping and riveting operation. After the operation is completed, the idle suction head 151 is rotated to the upper side of the punching station by the rotating mechanism 13, and the suction head 151 with the metal sheet 20 is rotated to the upper side of the seat 17 with the semi-finished product. Multiple sets of floating suction assemblies 15 can improve the processing efficiency. In the embodiment, two floating suction assemblies 15 are taken as an example for description. The two floating suction assemblies 15 are symmetrically arranged, and the two floating suction assemblies 15 are respectively connected with the two ends of the mounting plate 14. The rotating mechanism 13 is connected with the center region of the mounting plate 14, so as to realize the rotating effect of the rotating mechanism 13 driving the mounting plate 14 to rotate.

[0047] Specifically, as shown in the accompanying drawings, Figures 2-10 When the second driving source 181 works, the second driving source 181 drives the pressing rod 182 to move towards the floating material plate 155. The pressing rod 182 drives the floating material plate 155 to move downward along the Z-axis direction. The suction head 151 moves into the punching cavity 161 of the punching die 16, and the suction head 151 abuts against the metal sheet 20. At this time, the floating material plate 155, the mounting plate 14 and the bottom plate 154 are in a fixed state and do not float, which ensures the force transmission and the overall stability. The second driving source 181 continues to apply pressure to ensure that the force applied on one side of the pressing rod 182 is greater than the force generated by punching, that is, the pressure on the upper side is greater than the punching force on the lower side, so as to ensure that the upward punching force does not damage the floating suction assembly 15, the second driving source 181 and the pressing rod 182 during the processing. The force applied by the second driving source 181 is constant pressure.

[0048] Specifically, as shown in the accompanying drawings, Figures 5-10As shown, the number of guide posts 152 is two, the two guide posts 152 are diagonally arranged, and the lower end of the guide post 152 is frustoconical or conical, which plays a guiding effect. It should be noted that the stamping die 16 includes an upper die 162 and a lower die 163, and the stamping cavity 161 is located between the upper die 162 and the lower die 163. The guide post 152 first cooperates with the upper die 162 to form a guiding effect. At this time, the lower end of the suction head 151 has not yet entered the stamping cavity 161, and the lower end of the suction head 151 passes through the top surface of the upper die 162 and is always moved into the stamping cavity 161 along with the guiding effect of the guide post 152, so that the suction head 151 can accurately enter the stamping cavity 161. In this embodiment, the stamping cavity 161 is open front and back for conveying the material belt 201. For example, the seat 17 is provided with a matching post 171, the matching post 171 is provided with a hole, the matching post 171 extends upward along the Z-axis direction, and the matching post 171 protrudes above the top surface of the semi-finished product. When the floating suction assembly 15 moves downward, the guide post 152 first cooperates with the matching post 171, and then the suction head 151 moves to abut against the semi-finished product. Here, the guide post 152 also plays a guiding effect.

[0049] Specifically, the suction head 151 is provided with an air channel matched with the suction nozzle 153, and the air channel is matched with an air pipe to achieve a control effect of the suction nozzle 153. In this embodiment, the air pipe joint 22 is arranged on the mounting plate 14, one end of the air pipe joint 22 is in communication with the air channel of the suction head 151 through an air pipe, and the other end of the air pipe joint 22 is matched with an external vacuum system. The vacuum system works to form a negative pressure, so that the suction nozzle 153 can achieve a vacuum adsorption effect. When the vacuum system stops working, the suction nozzle 153 does not have a vacuum adsorption effect. Here, the suction nozzle 153 is a precision suction nozzle 153. In addition, in order to facilitate the air pipe wiring, the air pipe joint 22 can also be arranged on other parts.

[0050] Specifically, as shown in FIG. 6, the air pipe joint 22 is arranged on the mounting plate 14. Figures 2-4As shown, the rotating mechanism 13 comprises a servo motor 131 and a speed reducer 132, the servo motor 131 cooperates with the speed reducer 132, the output end of the speed reducer 132 is linked with the mounting plate 14, and the output end of the speed reducer 132 drives the mounting plate 14 to rotate. Here, the servo motor 131 is arranged in an inverted manner, that is, the output end of the servo motor 131 is directed towards the mounting plate 14, and in order to save space, the fixed plate 23 is provided with a hole, and the servo motor 131 partially penetrates through the hole on the fixed plate 23 and extends upwards. The shell of the speed reducer 132 is connected and fixed with the linkage plate 12, when the linkage plate 12 moves, the speed reducer 132 and the servo motor 131 also move. The servo motor 131 cooperates with the speed reducer 132 to better realize a driving effect, and compared with the instability of the cylinder transmission, the servo motor 131 transmission is more stable, and the servo motor 131 is inverted, which can save installation space and reduce the overall height; the speed reducer 132 has a speed reduction effect, which can more accurately control the rotation angle. When the number of the floating suction assembly 15 is two, the rotating mechanism 13 controls the mounting plate 14 to rotate 180° each time, forming control between the two ends, that is, one station performs suction of the metal sheet 20, and the other station performs riveting of the metal sheet 20.

[0051] Specifically, as shown in the accompanying drawings, Figures 2-4 Further comprising a support plate 24, a base 25, and a second guide shaft 26, the base 25 is located between the linkage plate 12 and the support plate 24, in this embodiment, the linkage plate 12 is located below the base 25, the support plate 24 is located above the base 25, one end of the second guide shaft 26 is connected with the linkage plate 12, and the other end of the second guide shaft 26 penetrates through the base 25 and is connected with the support plate 24. Here, the base 25 is in a fixed state, the support plate 24 and the linkage plate 12 slide relative to the base 25, and the second guide shaft 26 has a guiding effect. The support plate 24, the base 25, and the linkage plate 12 cooperate to realize the movement effect of the linkage plate 12, the first driving mechanism 11 drives the linkage plate 12 to move, and the support plate 24 has a supporting and limiting effect, thereby improving the stability of the overall driving. In this embodiment, the number of the second guide shaft 26 is four, and the four second guide shafts 26 are arranged at the four corners of the support plate 24. Here, the second guide shaft 26 is a precision guide shaft.

[0052] Specifically, as shown in the accompanying drawings, Figures 2-4 Further comprising a fixed plate 23, the base 25 is connected and fixed with the fixed plate 23, the top surface of the base 25 is connected and fixed with the fixed plate 23, the support plate 24 is located above the fixed plate 23, and the linkage plate 12 is located below the fixed plate 23. The fixed plate 23 has a whole fixing effect.

[0053] Specifically, the four posts 27 are connected with the fixing plate 23 respectively, which can support the punching die 16 in the cavity formed by the four posts 27, and facilitate the placement of the whole device.

[0054] Specifically, as shown in the accompanying drawings, the second driving source 181 and the third driving source 191 are fixed on the fixing plate 23, which can fix the driving source and make the driving more stable. Figures 2-4

[0055] Specifically, the first driving source 111 is fixed on the base 25, and the first driving rod 112 is connected with the linkage plate 12 through the base 25 and the fixing plate 23.

[0056] Specifically, the control system is used to control the actions of the first driving source 111, the second driving source 181, the third driving source 191, the suction nozzle 153 and other components, so that the whole rotary conveying device works effectively. The control system can be PLC control or other control mode, such as single-chip microcomputer, etc. In addition, a sensor can be arranged at the corresponding position to judge whether it is in place, and an alarm device can be arranged to inform the operator that the device is malfunctioning. The alarm device can be an indicator light or a buzzer, etc.

[0057] ​Specifically, in the embodiment, the working process of the rotating conveying device is as follows: the material belt 201 enters the stamping cavity 161, the first driving source 111 is actuated, the first driving rod 112 drives the linkage plate 12, the mounting plate 14 and the floating suction assembly 15 to move downward along the Z-axis direction, the guide column 152 cooperates with the stamping die 16, and the suction head 151 enters the stamping cavity 161 and abuts against the metal sheet 20. The second driving source 181 is actuated to drive the pressing rod 182 to move toward the floating suction assembly 15. The pressing rod 182 first abuts against the floating material plate 155, then drives the floating material plate 155 to move downward, and finally realizes the fixed form of the floating material plate 155, the mounting plate 14 and the bottom plate 154. The stamping head stamps from bottom to top, and after stamping, the suction nozzle 153 sucks the metal sheet 20, the second driving source 181 drives the pressing rod 182 to reset, and the first driving source 111 drives the suction head 151 to move upward along the Z-axis direction, so that the suction head 151 moves to the outside of the stamping die 16. At this time, the stamping head and the material belt 201 also move, preparing for the next stamping action. The rotating mechanism 13 works to drive the mounting plate 14 to rotate, so that the floating suction assembly 15 rotates to the upper side of the bearing 17. Then the first driving source 111 drives the suction head 151 to move downward along the Z-axis direction, so that the suction head 151 with the metal sheet 20 moves to the bearing 17, and the metal sheet 20 is attached to the semi-finished product. After the attachment is completed, the suction nozzle 153 stops working, that is, there is no vacuum suction effect between the suction nozzle 153 and the metal sheet 20. The third driving source 191 drives the material removing rod 192 to move toward the floating suction assembly 15. The material removing rod 192 first abuts against the floating material plate 155, then drives the floating material plate 155 to move downward, and finally realizes the fixed form of the floating material plate 155, the mounting plate 14 and the bottom plate 154. Then a riveting impact effect is formed, so that the metal sheet 20 is riveted to the semi-finished product. After riveting, the third driving source 191 drives the material removing rod 192 to reset, and the first driving source 111 drives the suction head 151 to move upward along the Z-axis direction, forming a processing effect of the metal sheet 20 and the semi-finished product. The processed semi-finished product can be gripped by a multi-axis robot to the next process. In this way, the whole rotating conveying device reciprocally processes, forming the conveying effect of the metal sheet 20.

[0058] Obviously, the above embodiment is only an example for clear illustration, and is not a limitation on the embodiments. Based on the above description, other different forms of changes or variations can be made by those skilled in the art. Here, all the embodiments cannot be exhausted, and the obvious changes or variations still fall within the protection scope of the present application.

Claims

1. A rotary transport device, characterized in that: include: A first driving mechanism (11), the first driving mechanism (11) comprising a first driving source (111) and a first driving rod (112), the first driving rod (112) being connected to the linkage plate (12), and the first driving source (111) driving the first driving rod (112) to move along a first direction; A rotating mechanism (13), wherein the rotating mechanism (13) is fixed to the linkage plate (12), the rotating mechanism (13) is connected to the mounting plate (14), and the rotating mechanism (13) drives the mounting plate (14) to rotate relative to a first plane; the first plane is perpendicular to the first direction; the mounting plate (14) is connected to a floating suction assembly (15), the floating suction assembly (15) includes a suction head (151) and a guide column (152), the suction head (151) includes a suction nozzle (153), and the floating suction assembly (15) floats relative to the mounting plate (14); A material pressing mechanism (18), the material pressing mechanism (18) comprising a second driving source (181) and a pressing rod (182), wherein the motion trajectory of the floating suction component (15) intersects with the motion trajectory of the pressing rod (182); A stripping mechanism (19), the stripping mechanism (19) comprising a third driving source (191) and a stripping rod (192), wherein the motion trajectory of the floating suction component (15) intersects with the motion trajectory of the stripping rod (192); In the first state, the guide column (152) cooperates with the stamping die (16), the suction head (151) moves into the stamping cavity (161) of the stamping die (16), the suction head (151) abuts against the metal sheet (20), the pressure rod (182) abuts against the floating suction assembly (15), and the pressure rod (182) applies pressure to the floating suction assembly (15); the stamping and cutting is completed, and the suction nozzle (153) sucks the metal sheet (20); the rotating mechanism (13) and the first driving mechanism (11) drive the suction head (151) to move above the support (17) on which the semi-finished product is installed; In the second state, the guide column (152) cooperates with the support (17), and the suction head (151) sucking the metal sheet (20) moves to the semi-finished product, the metal sheet (20) fits with the semi-finished product, and the suction nozzle (153) does not work; the stripping rod (192) is against the floating suction component (15) and the stripping rod (192) applies pressure to the floating suction component (15), and the metal sheet (20) is riveted and fixed to the semi-finished product.

2. The rotary transport device according to claim 1, characterized in that: The floating suction assembly (15) includes a base plate (154), a floating material plate (155), a first height screw (156), and a second height screw (157). The base plate (154) and the floating material plate (155) are connected via a first guide shaft (158), and the floating material plate (155) moves relative to the base plate (154). The suction head (151) is fixed to the floating material plate (155), one end of the guide column (152) is connected to the floating material plate (155), and the other end of the guide column (152) passes through the mounting plate (14) and the base plate (154). The mounting plate (14) extends between the base plate (154) and the floating material plate (155), and the mounting plate (14) and the base plate (154) are provided with a steel ball (159); the mounting plate (14) is provided with a first through hole (141), the floating plate (155) is provided with a second through hole (1551), the first contour screw (156) passes through the first through hole (141) and is connected to the base plate (154), and a first gap (142) is provided between the outer wall of the first contour screw (156) and the inner wall of the first through hole (141); the second contour screw (157) passes through the second through hole (1551) and is against the mounting plate (14), and a second gap (1552) is provided between the outer wall of the second contour screw (157) and the inner wall of the second through hole (1551).

3. The rotary transport device according to claim 2, characterized in that: The floating suction assembly (15) includes a limit pin (150), the mounting plate (14) is provided with a third through hole (143), one end of the limit pin (150) is connected to the base plate (154), and the other end of the limit pin (150) extends to the third through hole (143), and a third gap (1501) is provided between the outer side wall of the limit pin (150) and the inner side wall of the third through hole (143), and the third gap (1501) is smaller than the first gap (142) and the second gap (1552).

4. The rotary transport device according to claim 2, characterized in that: The bottom plate (154) is fixed with a first fixing member (211), the steel ball (159) is fixed to the first fixing member (211), the mounting plate (14) is fixed with a second fixing member (212), and the second fixing member (212) is against the steel ball (159).

5. The rotary transport device according to claim 2, characterized in that: An elastic member (213) is provided between the mounting plate (14) and the floating plate (155).

6. The rotary transport device according to claim 1, characterized in that: The suction head (151) is fixed with an elastic positioning needle (1511), the elastic positioning needle (1511) extends beyond the bottom surface of the suction head (151), and the elastic positioning needle (1511) cooperates with the metal sheet (20); alternatively, the bottom surface of the suction head (151) is provided with a riveting groove (1512).

7. The rotary transport device according to claim 2, characterized in that: The bottom plate (154) is provided with a fourth through hole (1541), the side wall of the fourth through hole (1541) is provided with a guide groove (1542), and the outer side wall of the suction head (151) is provided with a guide rib (1513) that cooperates with the guide groove (1542).

8. The rotary transport device according to claim 1, wherein: The rotating mechanism (13) comprises a servo motor (131) and a reducer (132), wherein the servo motor (131) cooperates with the reducer (132), an output end of the reducer (132) is linked to the mounting plate (14), and the servo motor (131) is inverted.

9. The rotary transport device according to claim 1, wherein: The invention also includes a support plate (24), a base (25), and a second guide shaft (26), wherein the base (25) is located between the linkage plate (12) and the support plate (24), one end of the second guide shaft (26) is connected to the linkage plate (12), and the other end of the second guide shaft (26) passes through the base (25) and is connected to the support plate (24).

10. The rotary transport device according to claim 9, characterized in that: It also includes a fixing plate (23), the base (25) is connected and fixed to the fixing plate (23), the support plate (24) is located above the fixing plate (23), and the linkage plate (12) is located below the fixing plate (23).

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