A clamping device for a rail robot track running unit

Abstract

The application relates to a clamping device for a hanging rail robot track walking unit, which comprises a first clamping part and a second clamping part arranged on the two sides of the web of an I-beam; a long strip-shaped channel is formed in the web; the lock pulling part comprises a support A and a support B, the support A and the support B are fixedly connected with the first clamping part and the second clamping part respectively; a linear push-pull mechanism A is arranged on the support A, a movable end A of the linear push-pull mechanism A is provided with a turnover mechanism, a turnover end of the turnover mechanism is fixedly provided with a lock box, a cavity groove and a T-shaped groove which are in communication are arranged on the lock box, the T-shaped groove comprises a horizontal part and a vertical part, the vertical part is a let-out groove, and the horizontal part comprises a limiting surface B; a linear push-pull mechanism B is arranged on the support B, a pull rod passes through the channel and is arranged at the two sides of the web, one end of the pull rod is fixedly connected with a movable end B, the other end of the pull rod is fixedly provided with a lock block, and the lock block comprises a front surface and a back surface, the back surface is a limiting surface A. The technical scheme can avoid the change of the pose of the robot in a strong wind environment.

Description

Technical Field

[0001] This invention belongs to the technical field of auxiliary walking equipment for rail-mounted robots, and specifically relates to a clamping device for a rail-mounted robot's track walking unit. Background Technology

[0002] Rail-mounted robots are typically equipped with a track and a walking unit that travels along the track. The robot is fixedly attached to the underside of the walking unit, which propels the robot along the track. The track used by rail-mounted robots is generally an I-beam, as disclosed in Chinese invention patent publication CN113427467B and Chinese utility model patent publication CN221293529U. The walking unit generally includes a drive motor and a clamping device consisting of two parts. The two parts of the clamping device are respectively located on both sides of the web of the I-beam. Each part is equipped with a combination of horizontal wheels and springs to clamp the web of the I-beam, thus restricting the lateral movement freedom of the walking unit. Both parts are also equipped with longitudinal wheels that rest on the lower cross plate of the I-beam, thus restricting the longitudinal movement freedom of the walking unit.

[0003] The clamping devices of existing walking units have the following drawbacks:

[0004] (1) The two parts of the existing clamping device need to be connected below the I-beam, which makes it impossible to optimize the internal structure and wastes space. However, if the connection below is removed and it is directly fixed to the outer shell of the rail-mounted robot, the robot's posture is prone to unpredictable changes or even tipping over when the end robot's posture changes drastically or in harsh environments such as strong winds, resulting in insufficient stability.

[0005] (2) The existing clamping device has a relatively simple longitudinal force point, which cannot meet the requirements of high safety and stability. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a clamping device for the track walking unit of a rail-mounted robot.

[0007] To solve the above-mentioned technical problems, the technical solution of the present invention is as follows:

[0008] A clamping device for a track-walking unit of a rail-mounted robot includes two clamping parts driven by drive wheels and located on both sides of the web of an I-beam, namely a first clamping part and a second clamping part; an elongated channel is formed on the web along the length of the I-beam; it also includes a locking part, which includes a bracket A and a bracket B, which are fixedly connected to the first clamping part and the second clamping part, respectively; a linear push-pull mechanism A is provided on bracket A, and a flipping mechanism is provided at the movable end A of the linear push-pull mechanism A, with a lock box fixedly provided at the flipping end of the flipping mechanism; a linear push-pull mechanism B is provided on bracket B, with a pull rod passing through the channel and its two ends located on both sides of the web, one end of the pull rod being fixedly connected to the movable end B of the linear push-pull mechanism B, and a lock block being fixedly provided at the other end of the pull rod; the pushing and pulling directions of the linear push-pull mechanism B and the linear push-pull mechanism A are parallel and opposite to each other;

[0009] The initial state of the locking mechanism is as follows: the linear push-pull mechanism A is in the pulled-back state, the flipping mechanism is in the 0° state, and the linear push-pull mechanism B is in the pushed-out state. At this time, the locking block is located outside the lock box.

[0010] The locking process of the locking mechanism is as follows: first, the linear push-pull mechanism A is pushed out, then the flipping mechanism is rotated to 180°, and then the linear push-pull mechanism B is pulled back. At this time, the locking block and the locking box are locked.

[0011] Furthermore, the lock box is provided with interconnected cavities and T-slots. The T-slot includes a horizontal part and a vertical part, the vertical part being a clearance groove, and the horizontal part including a limiting surface B. The lock block includes a front and a back, the back being a limiting surface A. When the lock pull part is in the initial state, the limiting surface B faces the front. During the locking process of the lock pull part, when the flipping mechanism rotates to the 180° state, the lock block is located in the cavity of the lock box, and the limiting surface B faces the limiting surface A, with the clearance groove fastened to the outside of the pull rod. When the linear push-pull mechanism B is in the pull-back state, the limiting surface B and the limiting surface A are pressed tightly together, and the lock block and the lock box are in the locked state.

[0012] Furthermore, the lock block is provided with a plurality of lock holes, and the limiting surface B of the lock box is fixedly provided with a plurality of lock pins, each lock pin corresponding to a lock hole. When the flipping mechanism is rotated to the 180° state and the linear push-pull mechanism B is in the push-out state, the lock pin is facing the lock hole and located outside the lock hole; when the flipping mechanism is rotated to the 180° state and the linear push-pull mechanism B is in the pull-back state, the lock pins are inserted into the lock holes one by one.

[0013] Furthermore, the linear push-pull mechanism A includes a slide plate, a rack A, a gear A, and a motor I. The slide plate is the movable end A, and the slide plate is slidably connected to the support A through the linear guide mechanism A. The rack A is fixed on the support A, the motor I is fixed on the slide plate, and the gear A is rotatably connected to the support A. The rotation of the gear A is driven by the motor I, and the gear A meshes with the rack A for transmission.

[0014] Furthermore, the linear guide mechanism A includes a matching slider A and a linear guide rail, with the linear guide rail fixed to the bracket A and the slider A fixed to the slide plate.

[0015] Furthermore, the flipping mechanism includes a motor II, the lock box is fixedly connected to the output shaft of the motor II, and the output shaft of the motor II is away from the T-slot on the lock box.

[0016] Furthermore, the linear push-pull mechanism B includes a gear B, a rack B, and a motor III. The rack B is the movable end B. The rack B is slidably connected to the bracket B through a linear guide mechanism B. The gear B meshes with the rack B for transmission. The gear B is rotatably connected to the bracket B. The rotation of the gear B is driven by the motor III. The motor III is fixedly connected to the bracket B.

[0017] Furthermore, the upper horizontal plate of the I-beam is provided with an upper guide groove, and the lower horizontal plate of the I-beam is provided with a lower guide groove; the clamping part includes a bearing plate, on which one longitudinal wheel B and two longitudinal wheels A are rotatably arranged in a triangular shape; the longitudinal wheel B is supported on the upper guide groove, and the longitudinal wheels A are supported on the lower guide groove.

[0018] Furthermore, the clamping part also includes several support frames, which are evenly distributed on both sides of the longitudinal wheel B and fixedly connected to the bearing plate. Each support frame is equipped with a support roller, which is rotatably connected to the support frame and rests on the upper guide groove.

[0019] Furthermore, the clamping part also includes a transverse wheel, which is rotatably connected to the transverse load block. The transverse wheel rolls against the web of the I-beam. A pair of guide rods are fixedly mounted on the transverse load block, and the guide rods are slidably connected to the bearing plate. A nut is screwed onto the end of the guide rod away from the transverse load block, and a spring is sleeved on the guide rod. The spring and the nut are respectively located on both sides of the bearing plate. The beneficial effects that this invention can achieve are:

[0020] (1) The locking part can be set so that when the rail-mounted robot is subjected to lateral load, the first clamping part and the second clamping part can be fixedly connected in the middle of the web of the I-beam, forming a cross-side rigid connection in the middle of the web of the I-beam, which enhances the stability of the rail-mounted robot and avoids unpredictable changes in the posture of the end robot when it is subjected to drastic changes or in harsh environments such as strong winds, or even tipping over.

[0021] (2) Furthermore, the longitudinal wheels B and A arranged in a triangular pattern optimize the load-bearing points, making the rail-mounted robot more stable and safer during operation.

[0022] (3) Furthermore, the support rollers matched with the support frame have added more stress points on the basis of the triangular support, which further improves the operation stability and safety factor of the rail-mounted robot. Attached Figure Description

[0023] Figure 1 This is the application main view of an embodiment of the present invention.

[0024] Figure 2 This is an application perspective view of an embodiment of the present invention.

[0025] Figure 3 This is the front view of an embodiment of the present invention.

[0026] Figure 4 This is a top view of an embodiment of the present invention.

[0027] Figure 5 This is a perspective view of an embodiment of the present invention.

[0028] Figure 6 This is a perspective view (a) of the clamping part in an embodiment of the present invention.

[0029] Figure 7 This is a perspective view (II) of the clamping part in an embodiment of the present invention.

[0030] Figure 8 This is a perspective view (a) of the unlocked state of the locking pull part in an embodiment of the present invention.

[0031] Figure 9 This is a perspective view (II) of the unlocked state of the locking pull part in an embodiment of the present invention.

[0032] Figure 10 yes Figure 9 Enlarged view of part A in the middle.

[0033] Figure 11 This is a perspective view (a) of the locking state of the locking part in an embodiment of the present invention.

[0034] Figure 12 This is a perspective view (II) of the locking state of the locking pull part in an embodiment of the present invention.

[0035] Figure 13 yes Figure 12 Enlarged view of section B in the middle.

[0036] In the diagram: 1-Drive wheel, 101-Drive bracket, 2-I-beam, 201-Lower cross plate, 202-Web plate, 203-Upper cross plate, 204-Upper guide groove, 205-Lower guide groove, 206-Channel; 3-First clamping part, 301-Bearing plate, 302-Longitudinal wheel A, 303-Transverse block, 304-Transverse wheel, 305-Shaft A, 306-Longitudinal wheel B, 307-Guide rod, 308-Spring, 309-Nut, 310-Bearing frame, 311-Support roller, 312-Support block; 4-Second clamping part, 5-Lock pull Part, 501-Bracket A, 502-Bracket B, 5021-Slide groove, 503-Gear B, 504-Rack B, 505-Pull rod, 506-Locking block, 5061-Back side, 5062-Locking hole, 5063-Front side, 507-Locking box, 5071-Cavity groove, 5072-Locking pin, 5073-T-slot, 50731-Leaning groove, 50732-Limiting surface B, 508-Slide plate, 509-Linear guide rail, 510-Rack A, 511-Motor I, 512-Motor II, 513-Motor III, 6-Hanging bracket. Detailed Implementation

[0037] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0038] like Figure 2 As shown, the I-beam 2 includes a lower horizontal plate 201, a web plate 202, and an upper horizontal plate 203.

[0039] A clamping device for a track-walking unit of a rail-mounted robot, such as Figures 1-5 As shown, it includes two clamping parts driven by the drive wheel 1 and located on both sides of the web 202 of the I-beam 2, namely the first clamping part 3 and the second clamping part 4; it also includes a locking part 5.

[0040] like Figure 2 As shown, the upper horizontal plate 203 of the I-beam 2 is provided with an upper guide groove 204, the lower horizontal plate 201 is provided with a lower guide groove 205, and the web plate 202 is provided with a long strip-shaped channel 206 along the length direction of the I-beam 2.

[0041] like Figures 6-7As shown, the clamping part includes a support plate 301. One longitudinal wheel B306 and two longitudinal wheels A302 are rotatably mounted on the support plate 301 in a triangular arrangement. The longitudinal wheel B306 is rotatably connected to a support block 312, which is fixedly connected to the support plate 301. The longitudinal wheels A302 are rotatably connected to a shaft A305, which is fixedly connected to the support plate 301. The longitudinal wheel B306 rests on the upper guide groove 204, and the longitudinal wheels A302 rest on the lower guide groove 205. The triangular arrangement of the longitudinal wheels B306 and A302 optimizes the load-bearing points, making the rail-mounted robot more stable and safer during operation.

[0042] like Figure 5 As shown, a pair of support frames 310 are also provided on the support plate 301. The pair of support frames 310 are respectively located on both sides of the longitudinal wheel B306. Each support frame 310 is equipped with a support roller 311, which is rotatably connected to the support frame 310. The support roller 311 is supported on the upper guide groove 204. This further adds stress points to the triangular support structure, further improving the operational stability and safety factor of the rail-mounted robot.

[0043] like Figure 3 , Figure 5 , Figure 6 and Figure 7 As shown, the clamping part also includes a transverse wheel 304, which is rotatably connected to the transverse support block 303. The transverse wheel 304 rolls against the web 202 of the I-beam 2. A pair of guide rods 307 are fixedly provided on the transverse support block 303. The guide rods 307 are slidably connected to the support plate 301. A nut 309 is screwed onto the end of the guide rod 307 away from the transverse support block 303. A spring 308 is sleeved on the guide rod 307. The spring 308 and the nut 309 are respectively located on both sides of the support plate 301. The degree of pressure of the transverse wheel 304 on the web 202 can be adjusted by adjusting the nut 309.

[0044] The hanging bracket 6 is located below the I-beam 2. The bearing plates 301 of the first clamping part 3 and the second clamping part 4 are both fixedly connected to the hanging bracket 6. The hanging bracket 6 is used to fix the robotic arm. A drive bracket 101 is fixedly installed on the hanging bracket 6. A drive motor is fixedly installed on the drive bracket 101. The drive motor is connected to the drive wheel 1 for transmission (in this embodiment, the output shaft of the drive motor is fixedly connected to the drive wheel 1 on the same axis), so that the drive wheel 1 can drive the robotic arm to move along the length direction of the I-beam 2.

[0045] like Figure 5 and Figure 8 As shown, the locking part 5 includes a bracket A501 and a bracket B502. The bracket A501 is fixedly connected to the support plate 301 of the first clamping part 3, and the bracket B502 is fixedly connected to the support plate 301 of the second clamping part 4.

[0046] like Figures 8-13 As shown:

[0047] The support A501 is equipped with a linear push-pull mechanism A, which specifically includes a slide plate 508, a rack A510, a gear A, and a motor I 511. The slide plate 508 is slidably connected to the support A501 via the linear guide mechanism A. The rack A510 is fixed to the support A501, and the motor I 511 is fixed to the slide plate 508. The gear A is rotatably connected to the support A501, and its rotation is driven by the motor I 511. The gear A meshes with the rack A510 for transmission. The linear guide mechanism A specifically includes a matching slider A and a linear guide rail 509. The linear guide rail 509 is fixed to the support A501, and the slider A is fixed to the slide plate 508.

[0048] The slide plate 508 is equipped with a flipping mechanism, which is specifically a motor II 512. The output shaft of the motor II 512 is fixedly connected to the lock box 507. The lock box 507 is provided with interconnected cavity grooves 5071 and T-shaped grooves 5073. The T-shaped groove 5073 includes a horizontal part and a vertical part. The vertical part is a clearance groove 50731, and the horizontal part includes a limiting surface B50732. The output shaft of the motor II 512 is away from the T-shaped groove 5073 on the lock box 507.

[0049] The bracket B502 is equipped with a linear push-pull mechanism B, which specifically includes a gear B503, a rack B504, and a motor III 513. The bracket B502 has a sliding groove 5021, and the bottom of the rack B504 is placed in the sliding groove 5021 and slidably connected to the sliding groove 5021. The gear B503 meshes with the rack B504 for transmission, and the gear B503 is rotatably connected to the bracket B502. The rotation of the gear B503 is driven by the motor III 513, and the motor III 513 is fixedly connected to the bracket B502. The pull rod 505 passes through the channel 206 and its two ends are located on both sides of the web 202. One end of the pull rod 505 is fixedly connected to the rack B504, and the other end is fixedly equipped with a locking block 506. The locking block 506 includes a front surface 5063 and a back surface 5061, and the back surface 5061 is a limiting surface A.

[0050] The pushing and pulling directions of linear push-pull mechanism B and linear push-pull mechanism A are parallel to each other (both are perpendicular to the length direction of I-beam 2) and opposite.

[0051] When the rail-mounted robot is not subjected to lateral load, the locking part 5 is in the unlocked state, which is the initial state of the locking part 5, such as... Figures 8-10 As shown, the initial state of the locking part 5 is as follows: the linear push-pull mechanism A is in the pulled-back state, the flipping mechanism is in the 0° state, and the linear push-pull mechanism B is in the pushed-out state. At this time, the locking block 506 is located outside the lock box 507, and the limiting surface B50732 is facing the front surface 5063.

[0052] When the rail-mounted robot is subjected to a lateral load, the locking part 5 is in a locked state, such as... Figures 11-13 As shown, the locking process of the locking pull part 5 is as follows: First, the linear push-pull mechanism A is pushed out, and then the flipping mechanism is rotated to the 180° state. At this time, the locking block 506 is located in the cavity 5071 of the lock box 507, and the limiting surface B50732 faces the limiting surface A, allowing the positioning groove 50731 to be fastened to the outside of the pull rod 505. Then, the linear push-pull mechanism B is pulled back. At this time, the limiting surface B50732 and the limiting surface A are pressed tightly together, and the locking pull part 5 is locked.

[0053] In addition, such as Figure 10 and Figure 13 As shown, the lock block 506 has four lock holes 5062, and the locking box 507 has four locking pins 5072 fixedly mounted on its limiting surface B50732. Each locking pin 5072 corresponds to one of the lock holes 5062. When the flipping mechanism is rotated to 180° and the linear push-pull mechanism B is in the extended state, the locking pins 5072 face the lock holes 5062 and are located outside the lock holes 5062. When the flipping mechanism is rotated to 180° and the linear push-pull mechanism B is in the retracted state, the locking pins 5072 are inserted into the corresponding lock holes 5062. This design effectively prevents the lock block 506 and the lock box 507 from moving vertically, ensuring the locking effect of the lock block 506 and the lock box 507.

[0054] In the description of this invention, terms such as "inner," "outer," "upper," "lower," "front," and "rear," which indicate orientation or positional relationship, are used only for the convenience of describing this invention and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0055] The above description is only one embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the spirit of the present invention are within the scope of protection of the present invention.

Claims

1. A clamping device for a track-walking unit of a rail-mounted robot, comprising two clamping parts driven by a drive wheel (1) and respectively disposed on both sides of the web (202) of an I-beam (2), namely a first clamping part (3) and a second clamping part (4); characterized in that: A long strip-shaped channel (206) is provided on the web plate (202) along the length direction of the I-beam (2); it also includes a locking pull part (5), which includes a bracket A (501) and a bracket B (502), which are fixedly connected to the first clamping part (3) and the second clamping part (4) respectively; a linear push-pull mechanism A is provided on the bracket A (501), and a flipping mechanism is provided on the movable end A of the linear push-pull mechanism A, and a lock box (507) is fixedly provided on the flipping end of the flipping mechanism; a linear push-pull mechanism B is provided on the bracket B (502), and a pull rod (505) passes through the channel (206) and its two ends are located on both sides of the web plate (202). One end of the pull rod (505) is fixedly connected to the movable end B of the linear push-pull mechanism B, and a lock block (506) is fixedly provided on the other end of the pull rod (505); the pushing and pulling directions of the linear push-pull mechanism B and the linear push-pull mechanism A are parallel to each other and opposite; The initial state of the locking part (5) is as follows: the linear push-pull mechanism A is in the pull-back state, the flipping mechanism is in the 0° state, and the linear push-pull mechanism B is in the push-out state. At this time, the locking block (506) is located outside the lock box (507). The locking process of the locking part (5) is as follows: first, the linear push-pull mechanism A is pushed out, then the flipping mechanism is turned to 180°, and then the linear push-pull mechanism B is pulled back. At this time, the locking block (506) and the locking box (507) are locked.

2. The clamping device for a track-walking unit of a rail-mounted robot according to claim 1, characterized in that: The lock box (507) is provided with interconnected cavities (5071) and T-slots (5073). The T-slot (5073) includes a horizontal part and a vertical part. The vertical part is a clearance groove (50731), and the horizontal part includes a limiting surface B (50732). The lock block (506) includes a front side (5063) and a back side (5061). The back side (5061) is the limiting surface A. When the lock pull part (5) is in the initial state, the limiting surface B (50732) faces the front side (5063). During the locking process of the locking pull part (5), when the flipping mechanism is rotated to the 180° state, the locking block (506) is located in the cavity (5071) of the lock box (507), and the limiting surface B (50732) faces the limiting surface A, and the clearance groove (50731) is fastened to the outside of the pull rod (505); when the linear push-pull mechanism B is in the pull-back state, the limiting surface B (50732) and the limiting surface A are pressed tightly together, and the locking block (506) and the lock box (507) are in the locked state.

3. The clamping device for a track-walking unit of a rail-mounted robot according to claim 2, characterized in that: The lock block (506) is provided with a plurality of lock holes (5062), and the limiting surface B (50732) of the lock box (507) is fixedly provided with a plurality of lock pins (5072). The lock pins (5072) correspond one-to-one with the lock holes (5062). When the flipping mechanism is rotated to the 180° state and the linear push-pull mechanism B is in the push-out state, the lock pins (5072) are facing the lock holes (5062) and are located outside the lock holes (5062). When the flipping mechanism is rotated to the 180° state and the linear push-pull mechanism B is in the pull-back state, the lock pins (5072) are inserted into the lock holes (5062) one-to-one.

4. The clamping device for a track-walking unit of a rail-mounted robot according to claim 1, characterized in that: The linear push-pull mechanism A includes a slide plate (508), a rack A (510), a gear A, and a motor I (511). The slide plate (508) is the movable end A. The slide plate (508) is slidably connected to the support A (501) through the linear guide mechanism A. The rack A (510) is fixed on the support A (501). The motor I (511) is fixed on the slide plate (508). The gear A is rotatably connected to the support A (501). The rotation of the gear A is driven by the motor I (511). The gear A meshes with the rack A (510) for transmission.

5. The clamping device for a track-walking unit of a rail-mounted robot according to claim 4, characterized in that: The linear guide mechanism A includes a matching slider A and a linear guide rail (509). The linear guide rail (509) is fixed on the bracket A (501), and the slider A is fixed on the slide plate (508).

6. The clamping device for a track-walking unit of a rail-mounted robot according to claim 2, characterized in that: The flipping mechanism includes a motor II (512), the lock box (507) is fixedly connected to the output shaft of the motor II (512), and the output shaft of the motor II (512) is away from the T-slot (5073) on the lock box (507).

7. The clamping device for a track-walking unit of a rail-mounted robot according to claim 1, characterized in that: The linear push-pull mechanism B includes a gear B (503), a rack B (504), and a motor III (513). The rack B (504) is the movable end B. The rack B (504) and the bracket B (502) are slidably connected through the linear guide mechanism B. The gear B (503) meshes with the rack B (504) for transmission. The gear B (503) is rotatably connected to the bracket B (502). The rotation of the gear B (503) is driven by the motor III (513). The motor III (513) is fixedly connected to the bracket B (502).

8. The clamping device for a track-walking unit of a rail-mounted robot according to claim 1, characterized in that: The upper horizontal plate (203) of the I-beam (2) is provided with an upper guide groove (204), and the lower horizontal plate (201) of the I-beam (2) is provided with a lower guide groove (205); the clamping part includes a bearing plate (301), and a longitudinal wheel B (306) and two longitudinal wheels A (302) are rotatably provided on the bearing plate (301) in a triangular shape; the longitudinal wheel B (306) is supported on the upper guide groove (204), and the longitudinal wheels A (302) are supported on the lower guide groove (205).

9. The clamping device for a track-walking unit of a rail-mounted robot according to claim 8, characterized in that: The clamping part also includes several support frames (310), which are evenly distributed on both sides of the longitudinal wheel B (306) and fixedly connected to the bearing plate (301). Each support frame (310) is equipped with a support roller (311), which is rotatably connected to the support frame (310). The support roller (311) is supported on the upper guide groove (204).

10. The clamping device for a track-walking unit of a rail-mounted robot according to claim 8, characterized in that: The clamping part also includes a transverse wheel (304), which is rotatably connected to the transverse load block (303). The transverse wheel (304) rolls against the web plate (202) of the I-beam (2). A pair of guide rods (307) are fixedly provided on the transverse load block (303). The guide rods (307) are slidably connected to the bearing plate (301). A nut (309) is screwed onto one end of the guide rod (307) away from the transverse load block (303). A spring (308) is sleeved on the guide rod (307). The spring (308) and the nut (309) are respectively located on both sides of the bearing plate (301).

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