Automatic insertion and extraction device for thin-wall special-shaped pipe fitting

Abstract

The invention discloses an automatic insertion and extraction device for a thin-wall special-shaped pipe fitting, which is used for performing insertion and extraction work on a positioning shaft in a straight pipe workpiece and a bent pipe workpiece, and comprises an insertion needle assembly for guiding the positioning shaft into the straight pipe workpiece; and the needle pulling assembly is located on one side of the needle inserting assembly, used for guiding the positioning shaft into the bent pipe workpiece and used for inserting and pulling the needle chuck assembly, arranged on the whole portion of the needle inserting assembly and the whole portion of the needle pulling assembly and used for conducting inserting and pulling adjustment work on the positioning shaft. The mirror image guide block is closed through driving of the driving air cylinder, the mirror image guide block and the driving air cylinder jointly form a high-precision guide channel, the copper pipe limiting sleeve is pressed tightly to complete limiting of a straight pipe workpiece, the positioning shaft is stably inserted into the straight pipe workpiece under precise guiding, the pressure sensor monitors insertion force in the whole process, and if a force value curve is normal, pin insertion is completed; if the force value suddenly increases and exceeds a safety threshold value, the control system immediately gives an alarm and stops, and equipment or workpiece damage caused by insertion failure is prevented.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic plugging and dismounting, in particular to a thin-wall type special-shaped pipe automatic plugging and dismounting device. BACKGROUND

[0002] The thin-wall special-shaped pipe automatic plugging and dismounting device is a production equipment for automatically inserting a positioning shaft into a thin-wall straight pipe and pulling out the positioning shaft from a thin-wall special-shaped bent pipe, which plays an important role in guaranteeing the machining quality of small-size pipe fittings with a taper; At present, the thin-wall special-shaped pipe automatic plugging and dismounting device has slow plugging and dismounting speed and poor consistency, the inner diameter of the positioning shaft and the inner diameter of the workpiece need to be selected and matched, the operation takes a long time, the outer diameter of the positioning shaft is too small in the plugging process, which may cause the positioning shaft to fall off in the bending process and increase the risk of mold damage, the outer diameter of the positioning shaft is too large in the plugging process, which may cause the mouth to bulge or deform, and to a certain extent, affect the workpiece production efficiency and machining quality, and manual plugging and dismounting of the positioning shaft increases the auxiliary time and reduces the production efficiency.

[0003] The above content is only used to assist in understanding the technical solutions of the present application and does not represent the acknowledgement of the above content as the closest prior art. SUMMARY

[0004] The present application aims to provide a thin-wall type special-shaped pipe automatic plugging and dismounting device to solve the problems of low production efficiency and poor consistency of manual plugging and dismounting of the positioning shaft in the background art.

[0005] To achieve the above-mentioned purpose, the present application provides the following technical solutions: A thin-wall type special-shaped pipe automatic plugging and dismounting device for plugging and dismounting a positioning shaft in a straight pipe workpiece and a bent pipe workpiece, comprising: A plugging assembly for guiding the positioning shaft into the straight pipe workpiece; A pulling assembly located on one side of the plugging assembly for guiding the positioning shaft into the interior of the bent pipe workpiece A plugging and dismounting chuck assembly provided on the whole of the plugging assembly and the pulling assembly for plugging and dismounting adjustment of the positioning shaft.

[0006] Further, the pulling assembly comprises: A second clamp bottom plate; A stainless steel fine adjustment platform installed on the upper end of the second clamp bottom plate and located on one side of the bent pipe workpiece for compensating the form and position tolerances of the bent pipe workpiece and ensuring the accurate centering of the axis of the bent pipe workpiece and the movement axis of the plugging and dismounting chuck assembly performing the pulling action.

[0007] Further, the needle pulling assembly further comprises: A rotating locking plate; A tail limiting block rotatably arranged at the front end of the rotating locking plate, used for cooperating with the rotating locking plate to axially position and lock the elbow pipe workpiece.

[0008] Further, the needle inserting assembly comprises: A first clamp bottom plate arranged at one side of the second clamp bottom plate; A front and rear sliding table air cylinder installed at the upper end of the first clamp bottom plate, used for adjusting the front and rear sliding table air cylinder forward and backward; A lifting sliding table air cylinder installed at the upper end of the front and rear sliding table air cylinder, used for adjusting the lifting sliding table air cylinder up and down; An inserting needle positioning plate connected at one side of the lifting sliding table air cylinder, wherein the inserting needle positioning plate is provided with mirror image guide blocks for guiding and positioning the shaft and a copper pipe limiting sleeve for radially limiting the straight pipe workpiece.

[0009] Further, the needle inserting assembly further comprises a driving guide mechanism, wherein the driving guide mechanism comprises: An air cylinder connecting plate fixedly connected at the upper end of the lifting sliding table air cylinder; A driving air cylinder installed at one side of the air cylinder connecting plate; A floating connecting plate connected with the driving air cylinder through a floating joint, used for providing buffering and self-adaptive centering during the inserting needle process.

[0010] Further, the needle inserting and pulling clamp head assembly comprises: An installation bottom plate connected with the mechanical arm through screws; A sensor connecting plate fastened at one side of the installation bottom plate through equal-height screws, wherein one side of the installation bottom plate is provided with a plurality of installation holes matched with the equal-height screws; A pressure sensor installed at the lower end of the sensor connecting plate, used for detecting the pressure state of the inserting and pulling positioning shaft; A clamping jaw air cylinder base installed at the lower end of the pressure sensor.

[0011] Further, the lower end of the clamping jaw air cylinder base is installed with a clamping jaw air cylinder body; The lower end of the clamping jaw air cylinder body is installed with a needle friction clamp head used for clamping the positioning shaft.

[0012] Compared with the prior art, the present application has the following beneficial effects: This invention utilizes a needle insertion chuck assembly driven by a robotic arm to move the positioning shaft above the needle insertion assembly. The front and rear slide cylinders and the lifting slide cylinder operate sequentially. The needle positioning plate serves as the guiding core, with a mirrored guide block mounted on it. A drive cylinder closes the mirrored guide block, and together they form a high-precision guiding channel, pressing against the copper tube limiting sleeve to limit the straight tube workpiece. This allows the positioning shaft to smoothly insert into the straight tube workpiece under precise guidance. A pressure sensor monitors the insertion force throughout the process. If the force curve is normal, needle insertion is complete; if the force suddenly increases beyond the safety threshold, the control system immediately alarms and stops the machine to prevent damage to the equipment or workpiece caused by "inaccessible insertion." Attached Figure Description

[0013] Fig. 1 This is a schematic diagram of the overall structure of the present invention; Fig. 2 This is a schematic diagram of the insert / remove pin clamp assembly of the present invention; Fig. 3 This is a schematic diagram of the needle removal assembly structure of the present invention; Fig. 4 This is a schematic diagram of the pin assembly structure of the present invention; Fig. 5 This is a diagram showing the fit between the straight pipe assembly and the copper pipe limiting sleeve of the present invention. Fig. 6 This is a diagram showing the working state of the insertion / removal pin clamp assembly of the present invention.

[0014] Reference numerals: 100, Straight pipe workpiece; 101, Bent pipe workpiece; 1, Needle insertion / removal chuck assembly; 10, Socket head cap screw; 11, Sensor connecting plate; 12, Gripper cylinder base; 13, Needle friction chuck; 14, Positioning shaft; 15, Mounting base plate; 16, Limit adjustment plate; 17, Gripper cylinder body; 18, Equalizing screw; 19, Pressure sensor; 2, Needle insertion assembly; 21, First clamp base plate; 22, First fixing clamp; 23, Hardened pad; 24, Lifting cylinder fixing plate; 25, Needle positioning plate; 26, Needle connecting plate; 27, Fastening hole 28. Drive guide mechanism; 281. Floating connecting plate; 282. Drive cylinder; 283. Floating joint; 284. Pin; 285. Mirror guide block; 286. Copper tube limit sleeve; 287. Lifting slide cylinder; 288. Front and rear slide cylinder; 289. Cylinder connecting plate; 3. Needle pulling assembly; 31. Second clamp base plate; 32. Second fixed clamp; 33. Rotary locking plate; 34. First fixed locking shaft; 35. Tail limit block; 36. First clamping plate; 37. Second clamping plate; 38. Stainless steel fine adjustment platform; 39. Second fixed locking shaft. Detailed Implementation

[0015] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0016] Please see Figs. 1-6 The present invention provides a technical solution: An automatic insertion and removal device for thin-walled irregular-shaped pipe fittings is used to insert and remove a positioning shaft 14 into a straight pipe workpiece 100 or a bent pipe workpiece 101, comprising: Pin assembly 2 is used to guide the positioning shaft 14 into the straight tube workpiece 100; The pin extraction assembly 3, located on one side of the pin insertion assembly 2, is used to guide the positioning shaft 14 into the interior of the bent tube workpiece 101. The insertion / removal pin clamp assembly 1 is located on the entire assembly of the insertion pin assembly 2 and the removal pin assembly 3, and is used to perform insertion / removal adjustment of the positioning shaft 14.

[0017] As an improvement, the needle removal assembly 3 includes: Second clamp base plate 31; The second fixing clamp 32 is installed on the upper end of the base plate 31 of the second clamp; The first fixing and locking shaft 34 and the second fixing and locking shaft 39 are fixedly connected at one end to one side of the second fixing clamp 32 and at the other end to one side of the stainless steel fine-tuning platform 38. The stainless steel fine-tuning platform 38 is connected in sequence to a first clamping plate 36 and a second clamping plate 37 for clamping the bent tube workpiece 101.

[0018] The stainless steel fine-tuning platform 38 is installed on the upper end of the second clamp base plate 31 and located on one side of the bent tube workpiece 101. It is used to compensate for the form and position tolerance of the bent tube workpiece 101 and ensure that the axis of the bent tube workpiece 101 is precisely aligned with the movement axis of the needle insertion and removal chuck assembly 1 that comes to perform the needle removal action. This avoids interference or jamming between the positioning shaft 14 and the tube wall of the bent workpiece 101, ensuring a smooth and damage-free needle removal process.

[0019] Furthermore, the needle removal assembly 3 also includes: Rotary locking plate 33; The tail limit block 35 is rotatably located at the front end of the rotary locking plate 33, and is used to cooperate with the rotary locking plate 33 to axially position and lock the bent tube workpiece 101.

[0020] Furthermore, the pin assembly 2 includes: The first clamp base plate 21 is disposed on one side of the second clamp base plate 31; The upper end of the first clamp base plate 21 is connected to the first fixing clamp 22, and a hardening pad 23 is filled between the first fixing clamp 22 and the first clamp base plate 21. The bottom of the first fixing clamp 22 is provided with fastening holes 27 near both sides, which are used to lock the first fixing clamp 22 to the upper end of the first clamp base plate 21 by bolts; Front and rear slide cylinders 288 are installed on the upper end of the first fixture base plate 21 and are used to adjust the insertion and extraction movements forward and backward. The lifting slide cylinder 287 is installed on the upper end of the front and rear slide cylinders 288 and is used to adjust the lifting slide cylinder 287. A lifting cylinder fixing plate 24 is installed at the upper end of the lifting slide cylinder 287. The pin positioning plate 25 is connected to one side of the lifting slide cylinder 287. The pin positioning plate 25 is provided with a mirror guide block 285 for guiding the positioning shaft 14, and a copper tube limiting sleeve 286 for radially limiting the straight tube workpiece 100. The upper end of the mirror guide block 285 is provided with a pin 284 for locking the mirror guide block 285 to the upper end of the first fixing clamp 22; The upper end of the pin positioning plate 25 is equipped with a pin connecting plate 26.

[0021] The pin assembly 2 further includes a drive guide mechanism 28, which includes: The cylinder connecting plate 289 is fixedly connected to the upper end of the lifting slide cylinder 287; A drive cylinder 282 is installed on one side of the cylinder connecting plate 289; The floating connecting plate 281 is connected to the drive cylinder 282 via the floating connector 283, and is used to provide buffering and adaptive centering during the pin insertion process.

[0022] As an improvement, the insertion / removal pin clamp assembly 1 includes: Mounting base plate 15 is connected to the robotic arm by screws; The sensor connection plate 11 is fastened to one side of the mounting base plate 15 by equal-height screws 18. The mounting base plate 15 has a plurality of mounting holes that are adapted to the equal-height screws 18 on one side. Pressure sensor 19 is installed at the lower end of the sensor connecting plate 11 and is used to detect the pressure state of the insertion and removal positioning shaft 14. The gripper cylinder base 12 is installed at the lower end of the pressure sensor 19; Limit adjustment plates 16 are fixedly connected to the front end of the mounting base plate 15 and on both sides of the sensor connecting plate 11. The limit adjustment plates 16 are internally threaded with hexagonal socket bolts 10 for adjusting the left and right swing angle of the sensor connecting plate 11.

[0023] Furthermore, a gripper cylinder body 17 is installed at the lower end of the gripper cylinder base 12; The lower end of the gripper cylinder body 17 is equipped with a needle friction chuck 13 for clamping the positioning shaft 14.

[0024] It should be noted that: in the specific implementation process of this invention, such as Figs. 1-2 As shown, the insertion / removal pin chuck assembly 1 is the core actuator of the entire device, serving the dual functions of clamping and positioning the shaft 14 and sensing insertion / removal force. Its specific structure is as follows: The mounting base plate 15 serves as the foundation of the entire chuck and is connected to the base of the robotic arm or drive mechanism via screws. The mounting base plate 15 and the limit adjustment plate 16 are connected by bolts. The sensor connection plate 11 and the mounting base plate 15 are connected by equal-height screws 18. The upper part of the pressure sensor 19 is connected to the sensor connection plate 11 via its own threaded structure, and the lower part of the pressure sensor 19 is connected to the gripper cylinder base 12 via its own threaded structure. The gripper cylinder body 17 is mounted on the gripper cylinder base 12 via bolts. The needle friction chuck 13 is bolted to the lower part of the gripper cylinder body 17 and is used to clamp the positioning shaft 14. The extension length of the hex bolt 10 is adjusted to adjust the angle of the left and right swing of the sensor connection plate 11 with the height screw 18 as the rotation center, thereby adjusting the angle of the overall insertion and removal pin chuck. The pin friction chuck 13 is usually made of a material with a high coefficient of friction and a certain elasticity (such as polyurethane), which is used to hold the positioning shaft 14 with appropriate friction force. It can reliably transmit motion and allow slippage when a certain resistance is reached, thus playing an overload protection role. The equalizing screw 18 and the limit adjustment plate 16 together ensure the height stability of the structure and the precise adjustability of the relative position. When the gripper cylinder body 17 performs the action of inserting or removing the needle, the axial force generated between the positioning shaft 14 and the workpiece will be transmitted to the pressure sensor 19 through the entire chuck structure. The pressure sensor converts the force signal of 19 into an electrical signal in real time and transmits it to the control system.

[0025] like Fig. 4 As shown, the pin assembly 2 is used to automatically insert the positioning shaft 14 into the straight tube workpiece 100. Its base is the first clamp base plate 21. The first fixing clamp 22 is installed on the first clamp base plate 21 by bolt connection. A hardened pad 23 is placed between the first fixing clamp 22 and the first clamp base plate 21 for positioning and supporting the straight tube workpiece 100.

[0026] To ensure that the positioning shaft 14 can be accurately inserted into the inner hole of the straight tube workpiece 100, this device is designed with a drive and guide mechanism 28. The front and rear slide cylinders 288 are bolted to the first fixture base plate 21, the lifting cylinder fixing plate 24 is bolted to the lifting slide cylinder 287, the cylinder connecting plate 289 is installed on the front and rear slide cylinders 288, the lifting cylinder fixing plate 24 is bolted to the lifting slide cylinder 287, the pin connecting plate 26 is bolted to the side of the lifting slide cylinder 287, the floating connecting plate 281 is connected to the drive cylinder 282 through the floating joint 283, and the pin positioning plate 25 is the guide core, on which a mirror guide block 285 is installed. The mirror guide block 285 is closed by the drive cylinder 282. Together, they form a high-precision guide channel and press the copper tube limiting sleeve 286 to complete the limiting of the straight tube workpiece 100, ensuring that the positioning shaft 14 always maintains linear movement during the insertion process and does not wobble. The copper tube limiting sleeve 286 is fixed on the pin positioning plate 25. Its inner hole matches the outer diameter of the straight tube workpiece 100, which plays a radial limiting role on the straight tube workpiece 100 and further ensures the centering. The front and rear slide cylinders 288 are responsible for providing the horizontal feed power for the pin movement, and the lifting slide cylinder 287 is responsible for adjusting the height of the pin positioning plate 25. In addition, the device is designed with a floating connection mechanism, which consists of a floating connection plate 281, a floating joint 283, and a drive cylinder 282. This mechanism can absorb a small amount of alignment error, provide buffering and adaptive adjustment in the initial stage of pin insertion, and avoid rigid impact damage to the positioning shaft 14 or the tube opening. The hardened pad 23 and the pin connecting plate 26 in this invention are used to enhance structural rigidity.

[0027] like Fig. 3 As shown, the needle-pulling assembly 3 is specifically used to pull out the positioning shaft 14 from the formed bent tube workpiece 101. Its base is the second clamping base plate 31, and the second fixing clamp 32 serves as the basic support. It is installed on the second clamping base plate 31 by bolt connection. The first clamping plate 36 and the second clamping plate 37 are connected to the stainless steel fine-tuning platform 38 by rotating locking plate 33. It is used to realize the angle adjustment of the needle in the bent tube workpiece 101 during needle pulling, and to ensure the parallelism between the positioning shaft 14 and the needle friction chuck 13 in the bent tube workpiece 101. This is beneficial to the clamping center coinciding with the center of the positioning shaft 14 in the bent tube workpiece 101, and the movement direction of needle pulling parallel to the opening of the bent tube workpiece 101.

[0028] The first fixed locking shaft 34 locks the adjusted angle of the rotating locking plate 33, thus fixing the angle of the first clamping plate 36 and the second clamping plate 37.

[0029] The inner sides of the first clamping plate 36 and the second clamping plate 37 are machined with grooves that are adapted to the shape of the bent tube workpiece 101, which together form a V-shaped or arc-shaped clamping mechanism for reliably fixing the bent tube workpiece 101. The rotating locking plate 33 and the tail limiting block 35 work together to achieve precise axial positioning and locking of the bent tube workpiece 101, preventing the workpiece from moving during the needle removal process.

[0030] Pin insertion process: The straight tube workpiece 100 is placed into the first fixing clamp 22 of the pin insertion assembly and limited by the copper tube limiting sleeve 286. Under the drive of the robotic arm, the pin insertion clamp assembly 1 clamps the positioning shaft 14 and moves it above the pin insertion assembly 2. The front and rear slide cylinders 288 and the lifting slide cylinder 287 act sequentially. The pin positioning plate 25 is the guide core, on which a mirror guide block 285 is installed. The mirror guide block 285 is closed by the drive cylinder 282. The two together form a high-precision guide channel and press the copper tube limiting sleeve 286 to complete the limitation of the straight tube workpiece 100, so that the positioning shaft 14 is smoothly inserted into the interior of the straight tube workpiece 100 under precision guidance. The pressure sensor 19 monitors the insertion force throughout the process. If the force value curve is normal, the pin insertion is completed. If the force value suddenly increases and exceeds the safety threshold, the control system immediately alarms and stops the machine to prevent damage to the equipment or workpiece caused by "inability to insert".

[0031] Needle removal procedure: The completed bent tube workpiece 101 is loaded into the needle removal assembly 3, held tightly by the first clamping plate 36 and the second clamping plate 37, and centered and adjusted by the stainless steel fine-tuning platform 38. The needle insertion and removal chuck assembly 1 moves to the end of the bent tube workpiece 101, and the gripper cylinder body 17 moves to make the needle rub against the chuck 13 to hold the exposed end of the positioning shaft 14. Then the robotic arm applies a reverse pulling force to pull out the positioning shaft 14. The pressure sensor 19 monitors the pulling force. If the force value is stable and within the normal range, the needle removal is completed. If the force value is too small, it may indicate that the positioning shaft 14 has fallen off. If the force value is too large, it may indicate that the positioning shaft 14 is stuck. The control system can judge the working condition and take corresponding actions based on this.

[0032] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0033] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An automatic insertion and removal device for thin-walled irregular-shaped pipe fittings, used for inserting and removing a positioning shaft (14) into straight pipe workpieces (100) and bent pipe workpieces (101), characterized in that, include: Pin assembly (2) for guiding the positioning shaft (14) into the straight tube workpiece (100); The pin-pulling assembly (3), located on one side of the pin insertion assembly (2), is used to guide the positioning shaft (14) into the interior of the bent tube workpiece (101). The insertion and removal pin clamp assembly (1) is located on the entire assembly of the insertion pin assembly (2) and the removal pin assembly (3) and is used to perform insertion and removal adjustment of the positioning shaft (14).

2. The automatic insertion and removal device for thin-walled irregular-shaped pipe fittings according to claim 1, characterized in that: The needle removal assembly (3) includes: Second clamp base plate (31); A stainless steel fine-tuning platform (38) is installed on the upper end of the second fixture base plate (31) and located on one side of the bent tube workpiece (101). It is used to compensate for the form and position tolerances of the bent tube workpiece (101) and ensure that the axis of the bent tube workpiece (101) is precisely aligned with the movement axis of the needle insertion and removal chuck assembly (1) that comes to perform the needle removal action.

3. The automatic insertion and removal device for thin-walled irregular-shaped pipe fittings according to claim 2, characterized in that: The needle removal assembly (3) also includes: Rotary locking plate (33); The tail limit block (35) is rotatably located at the front end of the rotary locking plate (33) and is used to cooperate with the rotary locking plate (33) to axially position and lock the bent pipe workpiece (101).

4. The automatic insertion and removal device for thin-walled irregular-shaped pipe fittings according to claim 2, characterized in that: The pin assembly (2) includes: The first clamp base plate (21) is disposed on one side of the second clamp base plate (31); Front and rear slide cylinders (288) are installed on the upper end of the first fixture base plate (21) and are used to adjust the insertion and extraction movements forward and backward. A lifting slide cylinder (287) is installed at the upper end of the front and rear slide cylinders (288) and is used to adjust the lifting slide cylinder (287) by lifting. A pin positioning plate (25) is connected to one side of the lifting slide cylinder (287). The pin positioning plate (25) is provided with a mirror guide block (285) for guiding the positioning shaft (14) and a copper tube limiting sleeve (286) for radially limiting the straight tube workpiece (100).

5. The automatic insertion and removal device for thin-walled irregular-shaped pipe fittings according to claim 4, characterized in that: The pin assembly (2) further includes a drive guide mechanism (28), which includes: The cylinder connecting plate (289) is fixedly connected to the upper end of the lifting slide cylinder (287); A drive cylinder (282) is installed on one side of the cylinder connecting plate (289); A floating connecting plate (281), connected to a drive cylinder (282) via a floating connector (283), is used to provide buffering and adaptive centering during the insertion process.

6. The automatic insertion and removal device for thin-walled irregular-shaped pipe fittings according to claim 1, characterized in that: The insertion / removal pin chuck assembly (1) includes: Mounting base plate (15), which is connected to the robotic arm by screws; The sensor connection plate (11) is fastened to one side of the mounting base plate (15) by equal height screws (18), and one side of the mounting base plate (15) is provided with a plurality of mounting holes that are compatible with the equal height screws (18); A pressure sensor (19) is installed at the lower end of the sensor connecting plate (11) to detect the pressure state of the insertion and removal positioning shaft (14); The gripper cylinder base (12) is installed at the lower end of the pressure sensor (19).

7. The automatic insertion and removal device for thin-walled irregular-shaped pipe fittings according to claim 6, characterized in that: The gripper cylinder body (17) is installed at the lower end of the gripper cylinder base (12); The lower end of the gripper cylinder body (17) is equipped with a needle friction chuck (13) for clamping the positioning shaft (14).

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