A high borosilicate glass tube feeding and conveying device based on visual recognition detection

Abstract

The application relates to the technical field of visual detection, and specifically discloses a high-boron-silicon glass tube feeding and conveying device based on visual recognition detection, which comprises a control cabinet, a feeding mechanism, a conveying mechanism and a transportation mechanism; the feeding mechanism is arranged at the back of the outer side of the control cabinet; the conveying mechanism is arranged at the right side of the outer side of the feeding mechanism; and the transportation mechanism is arranged at the right side of the outer side of the conveying mechanism. The multi-dimensional posture cooperative adjustment can effectively make up for the precision and stability short boards of the traditional carrying mode in the automatic transfer docking of the brittle pipe, improve the posture adaptation capability and scene versatility of the equipment cross-station docking, and through the multiple limiting constraints, the workpiece in the transfer process is locked in all directions, and the high-precision screw feeding and low-friction linear pushing technology are used, so that the coaxial accurate docking and smooth deep positioning of the workpiece and the rear-end machining station can be realized.

Description

Technical Field

[0001] This invention relates to the field of visual inspection technology, specifically to a high borosilicate glass tube feeding and conveying device based on visual recognition and detection. Background Technology

[0002] High borosilicate glass is a high-performance specialty silicate glass. Its production uses silicon dioxide and boron trioxide as core raw materials, combined with other auxiliary materials, and is formed through high-temperature melting and shaping. This material has an extremely low coefficient of thermal expansion, possessing outstanding heat resistance and able to withstand sudden temperature changes. It is not prone to cracking or shattering during daily use with alternating hot and cold temperatures. Its stable chemical structure provides strong resistance to acid and alkali corrosion, and it does not readily react with various liquids, beverages, or chemical reagents, nor does it release harmful impurities, making it extremely safe to use. Furthermore, the glass itself is highly transparent and clear, with a superior mechanical strength far exceeding that of ordinary glass. Due to its multiple excellent properties, it is widely used in many fields, including heat-resistant catering utensils, household drinking and tea sets, laboratory instruments, medical consumables, and industrial pipelines. In the existing technical field, traditional feeding and conveying processes for automated high borosilicate glass tube processing generally suffer from problems such as disordered unloading and poor workpiece sorting consistency. These issues easily lead to stacking, jamming, and workpiece misalignment. Traditional tooling often employs rigid clamping and positioning methods, which can easily cause processing damage such as extrusion scratches, edge chipping, and breakage to brittle glass tubes, making it difficult to guarantee a high yield. Furthermore, traditional equipment has low workpiece orientation accuracy and limited orientation correction, failing to achieve flexible orientation adaptation across multiple angles and directions. The workpiece transfer process suffers from poor stability, easily leading to deviation, rotation, and slippage. In addition, conventional conveying structures lack sufficient station docking accuracy, resulting in poor coaxiality and alignment accuracy during workpiece transfer across stations, making it difficult to meet the demands of high-precision continuous processing. The pushing method suffers from high frictional resistance and poor pushing stability, easily causing wear on the bottom of the workpiece. Moreover, the fixed pushing stroke cannot adapt to the feeding requirements of different equipment and different depth stations, making it difficult to meet the requirements of modern batch, high-precision, and unmanned continuous production operations. Summary of the Invention

[0003] The purpose of this invention is to provide a high borosilicate glass tube feeding and conveying device based on visual recognition detection, so as to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a high borosilicate glass tube feeding and conveying device based on visual recognition detection, comprising: a control cabinet, a feeding mechanism, a conveying mechanism, a transport mechanism, and a visual detection and recognition component; the feeding mechanism is located outside and behind the control cabinet; the conveying mechanism is located outside and to the right of the feeding mechanism; the transport mechanism is located outside and to the right of the conveying mechanism; and the visual detection and recognition component is located on the transport mechanism for detecting the glass tube insertion depth and end face status, determining whether the insertion is complete on the transport mechanism, and avoiding hard-top collisions that could cause the tube edge to chip. The visual inspection and recognition component includes a multi-axis moving platform and a visual inspection camera. The multi-axis moving platform is mounted on a transport mechanism, and the visual inspection camera is mounted on the moving end of the multi-axis moving platform.

[0005] Preferably, the feeding mechanism includes: a fixed frame, a storage hopper, a mounting frame, conveyor chains, a drive motor, and a transmission chain; the fixed frame is disposed on the rear side of the control cabinet in the front-to-back direction; the storage hopper is fixedly installed inside the fixed frame in the front-to-back direction; the mounting frame is fixedly installed on the right side of the inner cavity of the storage hopper in the front-to-back direction, inclined upwards from left to right; there are two conveyor chains, which are respectively rotatably installed on the front and rear sides of the mounting frame in the up-down direction via a rotating shaft; the drive motor is fixedly installed on the inner side of the fixed frame and located on the lower left side of the storage hopper, and the drive motor is electrically connected to the control cabinet; one end of the transmission chain has its sprocket shaft fixedly installed on the rotating end of the drive motor, and the other end of the transmission chain has its sprocket fixedly connected to the bottom sprocket shaft of the front and rear conveyor chains.

[0006] Preferably, the feeding mechanism further includes: a plate frame, an air pump system, a blocking module, a horizontal moving module, and fixing components; the plate frame is fixedly installed on the right side of the outer surface of the fixed frame along the front-to-back direction; the air pump system is fixedly installed on the lower inner side of the plate frame, and the air pump system is electrically connected to the control cabinet; the blocking module is fixedly installed in the middle of the upper surface of the plate frame, and the blocking module is electrically connected to the control cabinet; there are two horizontal moving modules, which are fixedly installed on the upper surface of the plate frame along the left-to-right direction and located on the front and rear sides outside the blocking module, and the horizontal moving modules are electrically connected to the control cabinet; there are two fixing components, which are fixedly installed on the top of the moving ends of the front and rear horizontal moving modules.

[0007] Preferably, the upper surface of the plate frame is provided with sequential feeding components on the top, front and rear left sides.

[0008] Preferably, the timing feeding component includes: a mounting frame, a track frame, a guide frame, a blocking block, a pushing module, a receiving block, a bracket, a first limiting component, a micro motor, a first electric telescopic rod, and an airbag; the mounting frame is fixedly installed on the upper surface of the plate frame along the left-right direction and is located on the upper right side of the outer side of the storage hopper; the track frame is fixedly installed on the inner side of the outer surface of the mounting frame from left to right at a downward angle, and the track frame has a vertically parallel plate structure with a shorter upper section and a longer lower section; the guide frame is fixedly installed on the inner side of the outer surface of the mounting frame and is located on the upper right side of the track frame, and the guide frame has an L-shaped shape; the blocking block is fixedly installed on the inner side of the track frame and is located in the lower center of the guide frame; the pushing module is fixedly installed on the lower outer surface of the track frame by a bracket, and the telescopic end of the pushing module extends into the inner side of the track frame. Located to the left of the blocking block, the pushing module is electrically connected to the control cabinet; the receiving block is fixedly installed on the inner side of the outer surface of the mounting frame and located on the lower right side of the track frame; the bracket is fixedly installed on the outer surface of the track frame along the front-back direction and located on the outer side of the receiving block; the first limiting component is fixedly installed on the inner side of the upper surface of the bracket along the front-back direction; the micro motor is fixedly installed on the top of the limiting end of the first limiting component through a bracket, and the micro motor is electrically connected to the control cabinet; the first electric telescopic rod is fixedly installed on the outer side of the upper surface of the bracket along the front-back direction through a bracket, the telescopic end of the first electric telescopic rod is connected to the outer side of the micro motor, and the first electric telescopic rod is electrically connected to the control cabinet; the airbag is fixedly installed on the inner side of the rotating end of the micro motor, and the airbag can be connected to the air outlet of the air pump system through a pipeline.

[0009] Preferably, the conveying mechanism includes: a gantry frame, a three-axis moving platform, a first rotating platform, a mounting top plate, a fixed frame, a rotating frame, and a second electric telescopic rod; the number of gantry frames is two, and the two gantry frames are respectively arranged on the front and rear sides of the outer side of the plate frame in the left-right direction; the three-axis moving platform is fixedly installed on the inner upper side of the front and rear two gantry frames in the left-right direction, and the three-axis moving platform is electrically connected to the control cabinet; the first rotating platform is fixedly installed at the bottom of the moving end of the three-axis moving platform, and the first rotating platform is electrically connected to the control cabinet; the mounting top plate is fixedly installed at the bottom of the rotating end of the first rotating platform in the left-right direction; the fixed frame is fixedly installed on the bottom right side of the bottom end of the mounting top plate in the up-down direction; the rotating frame is rotatably installed on the inner bottom end of the fixed frame via a rotating shaft in the up-down direction; one end of the second electric telescopic rod is rotatably installed on the bottom seat side of the mounting top plate via a rotating shaft seat, and the telescopic end of the second electric telescopic rod is rotatably connected to the left side of the outer surface of the rotating frame via a rotating shaft seat, and the second electric telescopic rod is electrically connected to the control cabinet.

[0010] Preferably, the conveying mechanism further includes: a second limiting component, a third electric telescopic rod, a rotating module, and a clamping module; the number of second limiting components is two, and the two second limiting components are respectively installed at the upper and lower ends of the right side of the outer surface of the rotating frame in the vertical direction; the number of third electric telescopic rods is two, and the two third electric telescopic rods are respectively installed at the upper and lower ends of the right side of the outer surface of the rotating frame through brackets in the vertical direction, and the telescopic ends of the two third electric telescopic rods are respectively connected to the outer side of the limiting ends of the upper and lower second limiting components, and the third electric telescopic rods are electrically connected to the control cabinet; the number of rotating modules is two, and the two rotating modules are respectively installed on the right side of the limiting ends of the upper and lower second limiting components, and the rotating modules are electrically connected to the control cabinet; the number of clamping modules is two, and the two clamping modules are respectively installed on the right side of the rotating ends of the two rotating modules, and the clamping modules are electrically connected to the control cabinet.

[0011] Preferably, the transportation mechanism includes: an AGV robot, an electric lifting platform, a second rotating platform, a tilting frame, and a fourth electric telescopic rod; the AGV robot is located outside the control cabinet, and the AGV robot and the control cabinet are remotely network connected; the electric lifting platform is embedded in the middle of the inner side of the AGV robot, and the electric lifting platform and the AGV robot are electrically connected; the second rotating platform is fixedly installed on the top of the lifting end of the electric lifting platform, and the second rotating platform and the AGV robot are electrically connected; the tilting frame is fixedly installed on the left side of the rotating end of the second rotating platform in a left-right direction; there are two fourth electric telescopic rods, and the two fourth electric telescopic rods are rotatably installed at the front and rear ends of the right side of the rotating end of the second rotating platform through rotating shaft seats, and the top ends of the two fourth electric telescopic rods are rotatably connected to the front and rear sides of the bottom of the rotating end of the tilting frame through rotating shaft seats, and the fourth electric telescopic rods are electrically connected to the AGV robot.

[0012] Preferably, the transport mechanism further includes: a mounting base, a third limiting assembly, a lead screw assembly, a mounting base plate, a first motor, a transmission belt assembly, a fifth electric extension rod, a mounting bracket, a clamp, and a pipe fixing component; the mounting base is fixedly mounted in the left-right direction on the middle of the upper surface of the rotating end of the tilting frame; the third limiting assembly is fixedly mounted in the left-right direction on the inner rear end of the mounting base; the lead screw of the lead screw assembly is rotatably mounted in the left-right direction on the inner front end of the mounting base via a bearing; the mounting base plate is fixedly mounted in the left-right direction on the top of the limiting end of the third limiting assembly, and the bottom end of the mounting base plate is connected to the lead screw nut of the lead screw assembly; the first motor is mounted on the mounting base... At the left rear end of the seat, the first motor and the AGV robot are electrically connected; one end of the transmission belt assembly's pulley shaft is fixedly connected to the rotating end of the first motor, and the other end of the transmission belt assembly's pulley shaft is fixedly connected to the left end of the lead screw shaft in the lead screw assembly; the fifth electric extension rod is fixedly installed on the left side of the upper surface of the mounting base plate via a bracket, and the fifth electric extension rod is electrically connected to the AGV robot; the mounting bracket is fixedly installed on the right side of the telescopic end of the fifth electric extension rod; the gripper is installed on the top right side of the mounting bracket, and the gripper is electrically connected to the AGV robot; the pipe fixing component is located on the top left side of the rotating end of the flipping frame, and is located above the inner side of the gripper.

[0013] Preferably, the pipe fitting fixing components include: a fixing seat, a mounting rod, ball bearing seats, a limiting bracket, a bevel gear disk, a second motor, a slot cylinder, a telescopic cylinder, a shaft, a bevel gear, a connecting pin, and a pressure bar; the fixing seat is fixedly installed on the top of the rotating end of the flipping frame in the vertical direction and is located on the outer left side of the mounting base; the mounting rod is fixedly installed on the front side of the fixing seat in the horizontal direction via a bracket; the number of ball bearing seats is several, and the several ball bearing seats are fixedly installed on the outer surface of the mounting rod at intervals from left to right; the number of limiting brackets is two, and the two limiting brackets are respectively fixedly installed on the front and rear ends of the left side of the outer wall of the mounting rod; the bevel gear disk is fixedly installed on the upper rear side of the outer surface of the fixing seat via a bracket; the second motor is fixedly installed on the upper front side of the outer surface of the fixing seat via a bracket, and the second motor... The two motors are electrically connected to the AGV robot. A slotted cylinder is fixedly mounted on the front side of the rotating end of the second motor via a bracket along the vertical direction. The slotted cylinder has grooves on both its front and rear sides along the vertical direction. A telescopic cylinder is inserted into the inner cavity of the slotted cylinder along the vertical direction. The outer wall of the telescopic cylinder has a spiral groove running circumferentially from top to bottom, communicating with the inner cavity. A shaft is rotatably mounted on the bottom end of the slotted cylinder via a bearing along the vertical direction. The top end of the shaft extends into the inner cavity of the telescopic cylinder. A bevel gear is fixedly mounted on the bottom end of the shaft, meshing with a bevel gear disc. Two connecting pins are installed on the front and rear sides of the outer wall of the shaft, respectively, and are inserted into the spiral grooves of the telescopic cylinder. A pressure bar is fixedly mounted on the top end of the telescopic cylinder along the vertical direction.

[0014] Compared with the prior art, the beneficial effects of the present invention are: 1. Driven by a motor and a transmission chain, the sprockets in the front and rear conveyor chains move circumferentially. The conveyor chains then lift and transport the workpieces from the collection hopper sequentially to the front and rear track frames. Under gravity, the workpieces move downwards along the track frames to the left side of the blocking block. The front and rear push modules extend to push the workpieces upwards along the left side of the blocking block. With the blocking and limiting action of the guide frame, each workpiece flips over the blocking block and rolls downwards along the inclined surface of the receiving block to the blocking module station. The blocking module extends to block the workpiece at its station. The first electric telescopic rods on the front and rear sides extend, driving the corresponding micro-motors. Airbags on the front and rear sides insert into the front and rear ends of the workpiece's inner cavity. The pump system supplies air to the front and rear airbags respectively, causing the airbags to expand and tighten into contact with the inner wall of the workpiece. The micro motor drives the airbag to rotate the workpiece, causing it to rotate along its own axis to a designated position. After rotating to the designated position, the front and rear fixed components fix the workpiece. The second electric telescopic rod drives the rotating frame to flip from vertical to horizontal. The first rotating platform drives the mounting top plate to rotate in the front-rear direction. The third electric telescopic rods on both sides drive the second limit components to drive the rotating modules on both sides, so that the clamping module is adjusted to the designated spacing position. The three-axis moving platform drives the clamping module to move to the outer positions of the front and rear ends of the workpiece respectively. The clamping module clamps and fixes the inner workpiece, so that the three-axis moving platform drives the lower structure to move as a whole, thereby moving the workpiece to the upper station of the transport mechanism.

[0015] 2. The electric lifting platform raises the workpiece to the designated height. Simultaneously, the fourth electric telescopic rods on both the front and rear sides extend, driving the rotating end inside the tilting frame to flip from horizontal to vertical. This causes the mounting rod in the pipe fitting fixing component to be in an upward position. The three-axis moving platform drives the workpiece to move, causing the entire inner cavity of the workpiece to be inserted downwards into the outside of the mounting rod, and the bottom of the workpiece to contact the inner walls of the two side limit brackets. The second motor drives the slot cylinder to rotate clockwise. Simultaneously, the slot cylinder rotates, driving the bevel gear to mesh and rotate around a fixed bevel gear disc under the cooperation of the shaft. The bevel gear drives the shaft to simultaneously rotate the connecting pin, causing the connecting pin to form a helical pair transmission with the spiral groove inner cavity of the telescopic cylinder. This converts the rotational motion of the connecting pin into axial displacement of the telescopic cylinder via the helical pair. The telescopic cylinder extends upwards along the inner cavity of the slot cylinder's groove, ultimately causing the pressure bar to complete a linear extension and retraction action as the telescopic cylinder rotates, bringing the pressure bar into contact with the outer wall of the workpiece, achieving... For fixation, the gripper clamps and fixes the workpiece on the other side of the outer wall. The AGV robot moves to the outside of the loading station of the subsequent processing equipment according to the preset travel trajectory. The fourth electric telescopic rod shortens and drives the flipping frame to flip from vertical to horizontal. The electric lifting platform adjusts its own height so that the height of the workpiece is consistent with the height of the loading station of the equipment. The second rotating platform adjusts the direction of the flipping frame so that the workpiece above the flipping frame is aligned with the loading station of the equipment. The second motor in the pipe fixing component drives the slot cylinder to rotate in the opposite direction, so that the telescopic cylinder is stored inside the slot cylinder. Then, the pressure bar rotates upward to release the top of the workpiece from the pressure fixation. The first motor drives the screw screw in the screw assembly to rotate under the transmission of the transmission belt assembly. The screw nut in the screw assembly drives the mounting base plate. Under the limiting action of the third limiting assembly, the mounting base plate makes the gripper lift the workpiece. The workpiece moves horizontally along the balls in the ball seat, so that the workpiece is inserted into the loading station of the equipment.

[0016] In summary, this invention avoids the defects of workpiece extrusion, scratches, and cracking caused by traditional rigid clamping by combining internal flexible expansion and posture adjustment with external flexible clamping, thereby improving the yield rate of brittle pipe parts. Simultaneously, it employs multi-dimensional posture collaborative adjustment, high-precision closed-loop positioning, composite anti-sway fixing, and flexible alignment and pushing integrated technology to effectively compensate for the accuracy and stability shortcomings of traditional handling methods in the automated transfer and docking of brittle pipe parts. Through a composite posture adjustment mechanism of multi-degree-of-freedom horizontal rotation and vertical flipping, it enhances the posture adaptability and scenario versatility of the equipment for cross-workstation docking, solving the problem of traditional AGVs' single-walking positioning and inability to adaptively correct workpiece posture. Furthermore, it utilizes multiple limiting constraints... The flexible clamping and synchronous follow-up support structure locks the workpiece in all directions during the transfer process, effectively suppressing inertial swaying, radial offset, and angular deflection during equipment start-up, shutdown, walking, flipping, and lifting. It completely improves the defects of poor stability and insufficient posture consistency in the transfer process of brittle pipes. Combined with high-precision spiral feeding and low-friction linear pushing technology, it can achieve coaxial and precise docking and stable deep insertion of the workpiece and the downstream processing station, greatly reducing the docking error of the station, significantly improving the accuracy of automated transfer docking and the workpiece insertion qualification rate, and realizing automated handling docking operation with no offset, high stability, and high precision throughout the process. It effectively improves the reliability and automation adaptation level of the entire set of equipment for cross-equipment transfer. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 for Figure 1 Exploded view of the feeding mechanism; Figure 3 for Figure 2 Enlarged view of point A; Figure 4 for Figure 3 Exploded view of the fixed components; Figure 5 for Figure 1 Exploded view of the conveyor mechanism; Figure 6 for Figure 5 Enlarged view of point B; Figure 7 for Figure 1 Explosion diagram of a transportation facility; Figure 8 for Figure 7 Enlarged view of point C; Figure 9 for Figure 7 An image of an explosion at a transportation facility.

[0018] In the diagram: 1. Control cabinet; 2. Feeding mechanism; 21. Fixed frame; 22. Storage hopper; 23. Mounting frame; 24. Conveyor chain; 25. Drive motor; 26. Transmission chain; 27. Plate frame; 28. Air pump system; 29. ​​Blocking module; 210. Horizontal movement module; 211. Mounting frame; 212. Track frame; 213. Guide frame; 214. Barrier block; 215. Pushing module; 216. Receiving block; 217. Bracket; 218. First limiting component; 219. Micro motor; 220. First electric telescopic rod; 221. Airbag; 3. Fixing component; 31. Vertical base; 32. First telescopic module; 33. Card slot seat; 34. Second telescopic module; 35. Stop block; 4. Conveying mechanism; 41. Gantry frame; 42. Three-axis moving platform; 43. First rotating platform; 44. Mounting top plate; 45. Fixing frame; 46. Rotating frame; 47. Second electric telescopic rod; 48. Second limiting component; 49. Third electric telescopic rod; 410. Rotating module; 411. Clamping module; 5. Transport mechanism; 51. AGV robot; 52. Electric lifting platform; 53. Second rotating platform; 54. Tilting frame; 55. Fourth electric telescopic rod; 56. Mounting base; 57. Third limiting component; 58. Lead screw assembly; 59. Mounting base plate; 510. First motor; 511. Transmission belt assembly; 512. Fifth... 513. Electric extension rod; 514. Mounting bracket; 515. Clamp; 6. Pipe fitting fixing component; 61. Fixing seat; 62. Mounting rod; 63. Ball bearing seat; 64. Limiting bracket; 65. Bevel gear disc; 66. Second motor; 67. Slot cylinder; 68. Telescopic cylinder; 69. Shaft; 610. Bevel gear; 611. Connecting pin; 612. Pressure bar; 7. Vision inspection and recognition component; 71. Multi-axis moving platform; 72. Vision inspection camera. Detailed Implementation

[0019] 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.

[0020] Please see Figures 1-9This invention provides a technical solution: a high borosilicate glass tube feeding and conveying device based on visual recognition detection, comprising: a control cabinet 1, a feeding mechanism 2, a conveying mechanism 4, a transport mechanism 5, and a visual detection and recognition component 7. The control cabinet 1 adopts an industrial standard independent electrical control cabinet structure, and is equipped with a PLC programmable controller, a charging module, a relay control module, a switching power supply, a signal acquisition module, and a remote communication module. The programmable controller is used as the core control unit, which has multi-channel signal input and output, timing logic programming, equipment linkage control, fault self-checking and alarm functions, and uniformly manages the start-up, stop, timing action, stroke adjustment, speed control and linkage of all electric, pneumatic and moving actuators of the whole machine. The feeding mechanism 2 is located at the rear of the control cabinet 1. The conveying mechanism 4 is located on the right side of the feeding mechanism 2. The transport mechanism 5 is located on the right side of the conveying mechanism 4. The visual detection and recognition component 7 is located on the transport mechanism 5 and is used to detect the insertion depth and end face status of the glass tube, and to determine whether the insertion is in place on the transport mechanism 5, so as to avoid hard collision that causes the tube edge to break. As a preferred option, further, such as Figure 2 and Figure 3As shown, the feeding mechanism 2 includes: a fixed frame 21, a storage hopper 22, a mounting frame 23, a conveyor chain 24, a drive motor 25, a transmission chain 26, a plate frame 27, an air pump system 28, a blocking module 29, a horizontal movement module 210, and a fixed component 3; the fixed frame 21 is located on the rear side of the control cabinet 1 along the front-to-back direction; the storage hopper 22 is fixedly installed inside the fixed frame 21 along the front-to-back direction. The storage hopper 22 is made of thickened stainless steel plate by bending and welding, with a smooth, burr-free surface that is wear-resistant and corrosion-resistant, and will not scratch or damage the outer wall of the high borosilicate glass tube. The interior adopts a large-capacity storage cavity structure, which is suitable for the stacking and storage of batches of high borosilicate glass tubes. The bottom of the cavity adopts an inclined flow guiding structure, which can realize the automatic collection of workpieces. The workpieces are arranged in an orderly manner to avoid problems such as messy accumulation, jamming, and stacking. The mounting frame 23 is fixedly installed on the right side of the inner cavity of the storage hopper 22, tilted upwards from left to right in the front-back direction. There are two conveyor chain plates 24, which are installed on the front and rear sides of the mounting frame 23 respectively via a rotating shaft in the up-down direction. The conveyor chain plates 24 adopt a combination structure of industrial engineering plastic chain plates and stainless steel chains. The surface of the chain plates is flat and non-slip, which is suitable for conveying brittle glass workpieces. The chain plates adopt a segmented modular structure, which is convenient for disassembly and maintenance. The two conveyor chain plates 24 are symmetrically arranged, which can simultaneously support the workpieces from both ends of the glass tube, ensuring uniform force and stable posture during the lifting and conveying process of the workpieces. This effectively avoids the high borosilicate glass tube from breaking under single-point force and achieves the desired result. The components are lifted and conveyed in an orderly manner. The drive motor 25 is fixedly installed inside the fixed frame 21 and located on the lower left side of the outer side of the storage hopper 22. The drive motor 25 is electrically connected to the control cabinet 1. The drive motor 25 is a low-speed, high-torque variable frequency reduction motor, and its start / stop, speed adjustment, and forward / reverse operation are controlled by the control cabinet 1. It can drive the transmission chain 26 through stable output torque. One end of the transmission chain 26 is fixedly installed on the rotating end of the drive motor 25, and the other end of the transmission chain 26 is fixedly connected to the bottom sprocket shaft of the front and rear conveyor chain plates 24. The transmission chain 26 adopts an industrial precision roller transmission chain, matched with a high-strength alloy sprocket, forming a closed-loop synchronous transmission structure to ensure that the front and rear conveyor chain plates 24 rotate at the same speed. The system features dual-end synchronous conveying. The plate frame 27 is fixedly installed on the right side of the outer surface of the fixed frame 21 along the front-back direction. The air pump system 28 is fixedly installed on the lower inner side of the plate frame 27. The air pump system 28 is electrically connected to the control cabinet 1. The air pump system 28 uses an industrial silent small high-pressure air pump, equipped with a precision pressure regulating valve, a pressure stabilizing air tank, an electromagnetic reversing valve, and a high-pressure air pipeline. The entire system is fixedly installed in a concealed position on the lower inner side of the plate frame 27. The air pump system 28 is controlled by the control cabinet 1 to control the inflation, stabilization, and depressurization sequence. It can achieve constant pressure, quantitative, and precise air supply, providing a stable air source for the expansion and tightening operation of the airbags 221 at both ends. It can adaptively adjust the tightening pressure according to different diameter glass tubes to avoid excessive pressure crushing the glass tube or insufficient pressure causing the workpiece to slip and rotate.The blocking module 29 is fixedly installed in the middle of the upper surface of the plate frame 27. The blocking module 29 is electrically connected to the control cabinet 1. The blocking module 29 adopts a small, high-precision electric telescopic blocking device with built-in high-precision telescopic drive components and position sensors. It can accurately realize telescopic limit and reset actions, and can accurately block and position a single high borosilicate glass tube rolling to the unloading station, restricting the workpiece's sliding displacement and achieving accurate workpiece docking and station positioning. There are two horizontal moving modules 210. The two horizontal moving modules 210 are fixedly installed on the upper surface of the plate frame 27 in the left and right directions, respectively, and are located on the front and rear sides of the blocking module 29. 210 is electrically connected to control cabinet 1. The horizontal movement module 210 adopts a precision servo linear slide module structure, which can receive commands from control cabinet 1 to achieve precise constant speed and constant stroke horizontal displacement. There are two fixed components 3, which are respectively fixedly installed on the top of the moving ends of the front and rear horizontal movement modules 210. Among them, the upper surface of the plate frame 27 is provided with sequential feeding components on the left side of the front and rear sides. The sequential feeding components include: mounting frame 211, track frame 212, guide frame 213, blocking block 214, pushing module 215, receiving block 216, bracket 217, first limit component 218, micro motor 219, first limit component 218, micro motor 219, first limit component 210, and first limit component 210. The electric telescopic rod 220 and airbag 221 are included. The mounting bracket 211 is fixedly installed on the upper surface of the plate frame 27 in a left-right direction, located on the upper right side of the storage trough 22. The track frame 212 is fixedly installed on the inner side of the outer surface of the mounting bracket 211 from left to right, tilting downwards. The track frame 212 has a vertically parallel plate structure, shorter at the top and longer at the bottom. The track frame 212 is adapted to the gravity sliding trajectory of the glass tube, forming a regular workpiece sliding channel inside. The channel spacing is adapted to the diameter of the glass tube, allowing for limiting and guiding the front and rear ends of the glass tube, ensuring the workpiece slides smoothly along the fixed trajectory. The guide frame 213 is fixedly installed on the inner side of the outer surface of the mounting bracket 211. Located on the upper right of the track frame 212, the guide frame 213 is L-shaped and serves as a lateral limit and flow guide, providing lateral constraint on the glass tube workpieces during the pushing process. This prevents the workpieces from shifting laterally or jumping off the track during the upward flipping process. Together with the blocking block 214, it achieves precise separation of individual workpieces, ensuring that only one workpiece completes the unloading action at a time. The blocking block 214 is fixedly installed on the inner side of the track frame 212, located in the lower center of the guide frame 213. It is made of wear-resistant engineering plastic with a smooth surface and a certain degree of toughness. The blocking block is the core barrier structure for single workpiece separation, blocking and retaining glass tubes sliding down in batches. Combined with the pushing action of the pushing module, it achieves single workpiece flipping and separation, preventing other workpieces from continuing to slide down, effectively preventing material stacking and continuous material flow problems, and achieving workpiece unloading one by one, in an orderly and time-sharing manner.The pushing module 215 is fixedly installed on the lower outer surface of the track frame 212 via a bracket. The telescopic end of the pushing module 215 extends into the inner side of the track frame 212 and is located on the left side of the barrier block 214. The pushing module 215 is electrically connected to the control cabinet 1. The pushing module 215 adopts a high-precision micro electric telescopic push rod, which has the characteristics of precise telescopic stroke, uniform thrust, and smooth start and stop. It can accurately push a single glass tube workpiece stuck on the left side of the barrier block 214, assisting the workpiece to smoothly flip over the barrier block 214 to complete the single-piece sorting and unloading. The thrust is gentle and controllable, which can effectively avoid damage to the glass tube caused by hard impact. The receiving block 216 is fixedly installed on the inner side of the outer surface of the mounting frame 211 and is located on the track frame. Below the right side of 212, the receiving block 216 adopts an inclined smooth curved surface structure design and is an integrally formed stainless steel component. It mainly serves as a transitional guide for workpiece unloading, and can smoothly receive and tilt the glass tube that has overturned the barrier block 214, allowing the workpiece to slide smoothly to the blocking module station. The bracket 217 is fixedly installed on the outer surface of the track frame 212 along the front-back direction and is located outside the receiving block 216. The first limiting component 218 is fixedly installed on the inner side of the upper surface of the bracket 217 along the front-back direction. The first limiting component 218 adopts a linear guide rail limiting structure and is equipped with a high-precision sliding pair, which can rigidly constrain the translation trajectory of the micro motor 219 to ensure that the airbag 221 is accurately aligned and inserted into the glass. The inner cavity of the glass tube; a micro motor 219 is fixedly installed on the top of the limiting end of the first limiting component 218 via a bracket. The micro motor 219 is electrically connected to the control cabinet 1. The micro motor 219 is a high-precision, low-speed servo micro motor, which can drive the airbag 221 and the glass tube workpiece to perform precise axial rotation, completing the workpiece angle leveling and posture correction; the first electric telescopic rod 220 is fixedly installed on the outer side of the upper surface of the bracket 217 along the front-to-back direction via a bracket. The telescopic end of the first electric telescopic rod 220 is connected to the outer side of the micro motor 219. The first electric telescopic rod 220 is electrically connected to the control cabinet 1. The first electric telescopic rod 220 has the advantages of precise stroke, smooth operation, and high positioning accuracy, and can precisely... The quasi-drive micro motor 219 moves back and forth as a whole, enabling precise insertion and separation of the airbag 221 from the inner cavity of the glass tube. The airbag 221 is fixedly installed inside the rotating end of the micro motor 219. The airbag 221 can be connected to the air outlet of the air pump system 28 through a pipeline. The airbag 221 adopts a highly elastic, wear-resistant silicone flexible airbag structure, which can realize the cyclic action of inflation and deflation. After inflation, it can tightly fit the inner wall of the glass tube. The airbag 221 fixes the workpiece through flexible expansion, which can drive the workpiece to rotate and adjust its posture precisely by relying on the friction of the inner wall, while completely avoiding the squeezing, scratching, and cracking damage to the high borosilicate glass tube caused by rigid clamping. It is suitable for non-destructive posture adjustment operations of glass tubes of various diameters.

[0021] As a preferred option, further, such as Figure 4As shown, the fixed component 3 includes: a vertical base 31, a first telescopic module 32, a slot base 33, a second telescopic module 34, and a stop block 35; the vertical base 31 is fixedly installed on the top of the moving end of the horizontal moving module 210 in the vertical direction; the first telescopic module 32 is fixedly installed on the inner side of the outer surface of the vertical base 31 in the vertical direction, and the first telescopic module 32 is electrically connected to the control cabinet 1. The first telescopic module 32 adopts a high-precision silent DC electric telescopic push rod module, and the module has a built-in closed-loop position feedback sensor, which is suitable for the precision lifting operation of brittle glass workpieces and can receive... The control signals from control cabinet 1 enable precise telescopic start / stop, stroke fine-tuning, and position self-locking, driving the top slot seat 33 to achieve vertical lifting and lowering displacement. The support height can be adaptively adjusted according to the glass tube diameter, achieving flexible support and height alignment of the workpiece. The first telescopic module 32 has overload buffering, positioning self-locking, and position memory functions, effectively preventing workpiece vibration, displacement, or damage caused by excessive lifting speed. The slot seat 33 is fixedly installed on the top of the telescopic end of the first telescopic module 32. The slot seat 33 adopts a composite structure of engineering wear-resistant plastic and aluminum alloy base, with an overall arc-shaped opening. The conformal slot structure adapts to the outer contour of a conventional high borosilicate glass tube, enabling flexible support through line contact. It is used for bottom centering and radial limiting of the high borosilicate glass tube workpiece after posture correction, ensuring the workpiece is placed centered without offset. The second telescopic module 34 is fixedly mounted on the upper right side of the vertical base 31 via a bracket along the left-right direction. The second telescopic module 34 is electrically connected to the control cabinet 1. The second telescopic module 34 employs a miniature precision servo telescopic module, capable of receiving timing commands from the control cabinet 1 to achieve precise lateral telescopic movement, fine-tuning positioning, and instantaneous locking. The stop block 35 is used to drive the front end to complete the lateral feeding and resetting action, and adapts to the top limiting requirements of glass tubes of different lengths. The stop block 35 is fixedly installed on the left side of the telescopic end of the second telescopic module 34 in the left-right direction. The second telescopic module 34 is located on the inner upper side of the slot seat 33. The stop block 35 is made of high toughness antistatic engineering plastic material. The overall structure is flat and smooth, and will not cause hard damage to the outer wall of the high borosilicate glass tube. It forms a limiting fit structure with the bottom slot seat 33, which can perform top vertical limiting and anti-dislodgement constraint on the glass tube workpiece after it is supported and positioned.

[0022] As a preferred option, further, such as Figure 5 and Figure 6As shown, the conveying mechanism 4 includes: a gantry frame 41, a three-axis moving platform 42, a first rotating platform 43, a mounting top plate 44, a fixed frame 45, a rotating frame 46, a second electric telescopic rod 47, a second limit assembly 48, a third electric telescopic rod 49, a rotating module 410, and a clamping module 411; there are two gantry frames 41, which are respectively arranged on the front and rear sides of the plate frame 27 in the left and right directions; the three-axis moving platform 42 is fixedly installed on the inner upper side of the front and rear gantry frames 41 in the left and right directions, and the three-axis moving platform 42 is electrically connected to the control cabinet 1. The three-axis moving platform 42 adopts an industrial-grade high-precision XYZ... The three-axis servo linear module integrates a rack and pinion system, linear guide rails, servo drive motors, and a closed-loop positioning system with a grating ruler. The three-axis moving platform 42 is controlled by the control cabinet 1 to achieve three-axis linkage interpolation control, enabling precise three-dimensional spatial displacement in horizontal, left-right, forward-backward, and vertical directions. The first rotating platform 43 is fixedly installed at the bottom of the moving end of the three-axis moving platform 42. The first rotating platform 43 is electrically connected to the control cabinet 1. The first rotating platform 43 adopts a high-precision hollow servo rotating platform structure and can receive electrical control signals from the control cabinet 1 to achieve fixed-point angle rotation, angle fine-tuning, and attitude locking actions. It can drive the lower mounting plate 44 to complete horizontal movement. The orientation and posture switching adjusts the axial orientation of the glass tube workpiece to meet the posture conversion process requirements of the loading station and the transfer station; the mounting top plate 44 is fixedly installed at the bottom of the rotating end of the first rotating platform 43 in the left-right direction; the fixing frame 45 is fixedly installed on the right side of the bottom end of the mounting top plate 44 in the up-down direction; the rotating frame 46 is rotatably installed on the bottom inner side of the fixing frame 45 via a rotating shaft in the up-down direction; one end of the second electric telescopic rod 47 is rotatably installed on the bottom end seat side of the mounting top plate 44 via a rotating shaft seat, and the telescopic end of the second electric telescopic rod 47 is rotatably connected to the left side of the outer surface of the rotating frame 46 via a rotating shaft seat; the second electric telescopic rod 47 and the control cabinet 1 Electrically connected, the second electric telescopic rod 47 adopts an industrial servo electric push rod structure with a built-in displacement sensor and thrust feedback module, which can realize precise control of the telescopic stroke, adaptive thrust adjustment, and smooth start and stop of the action. It can precisely drive the rotating frame 46 to complete the flip angle switching through the telescopic push and pull action; there are two second limit components 48, which are respectively installed at the upper and lower ends of the middle right side of the outer surface of the rotating frame 46 in the vertical direction. The second limit components 48 adopt a precision linear guide rail limit structure and are equipped with a high-precision sliding pair, which can accurately constrain and guide the lateral adjustment displacement of the rotating module 410 and the clamping module 411.There are two third electric telescopic rods 49. These two third electric telescopic rods 49 are respectively mounted on the upper and lower ends of the right side of the outer surface of the rotating frame 46 via brackets along the vertical direction. The telescopic ends of the two third electric telescopic rods 49 are respectively connected to the outer sides of the limiting ends of the upper and lower second limiting components 48. The third electric telescopic rods 49 are electrically connected to the control cabinet 1. The third electric telescopic rods 49 adopt a miniature precision adjustable speed telescopic module, which has the advantages of precise telescopic stroke, good synchronization, and fast response speed. Based on the actual length parameters of the glass tube, it can drive the upper and lower sets of second limiting components 48 and the end clamping module 411 to complete the adaptive adjustment of the lateral spacing, achieving flexible adaptation of the clamping span and meeting the centering clamping requirements of glass tubes of different specifications; the rotating module 41... There are two 0-type rotating modules 410, each installed on the right side of the limiting end of the upper and lower second limiting components 48. The rotating modules 410 are electrically connected to the control cabinet 1. There are also two clamping modules 411, each installed on the right side of the rotating end of the two rotating modules 410. The clamping modules 411 are electrically connected to the control cabinet 1. The clamping modules 411 adopt a flexible contour-following clamping structure, with the clamping contact surface made of highly elastic, non-slip soft rubber. The overall structure adapts to the arc-shaped outer wall contour of the high borosilicate glass tube. The clamping modules 411 have built-in pressure sensing components, enabling closed-loop control of the clamping force. This allows for non-destructive, highly stable double-sided clamping and fixing of the glass tube workpiece, suitable for automated clamping and transfer operations of various brittle tubes.

[0023] As a preferred option, further, such as Figure 7 and Figure 8As shown, the transportation mechanism 5 includes: an AGV robot 51, an electric lifting platform 52, a second rotating platform 53, a tilting frame 54, a fourth electric telescopic rod 55, a mounting base 56, a third limit assembly 57, a lead screw assembly 58, a mounting base plate 59, a first motor 510, a transmission belt assembly 511, a fifth electric extension rod 512, a mounting bracket 513, a gripper 514, and a pipe fixing component 6. The AGV robot 51 is located outside the control cabinet 1 and is remotely network-connected to the control cabinet 1. The AGV robot 51 adopts an intelligent handling AGV body structure and is equipped with an embedded industrial main control system, a wireless WiFi remote communication module, and a magnetic strip / QR code navigation module. The AGV robot 51, equipped with a servo-driven walking unit and multiple safety obstacle avoidance sensors, features fully automatic navigation, fixed-point stopping, trajectory memory, and error correction. It receives automated operation commands from control cabinet 1 and undertakes the precise transfer of glass tube workpieces across workstations and equipment. The electric lifting platform 52 is embedded in the inner center of the AGV robot 51, electrically connected to it. The electric lifting platform 52 adopts a high-precision servo-driven electric lifting platform structure, integrated into the reserved installation area in the inner center of the AGV robot 51. Its lifting stroke and speed are independently controlled by the AGV robot 51's AGV body program. The electric lifting platform 52 incorporates precision... The screw-driven lifting transmission mechanism, linear guide assembly, and height closed-loop detection sensor enable precise positioning at any height, providing a height-adaptive basis for the alignment and unloading of glass tube workpieces. The second rotating platform 53 is fixedly installed on the top of the lifting end of the electric lifting platform 52. The second rotating platform 53 is electrically connected to the AGV robot 51. The second rotating platform 53 adopts a precision servo rotary platform structure, equipped with high-precision crossed roller bearings and a micro harmonic reducer. It can receive electrical control commands from the AGV robot 51 to achieve 360° stepless horizontal angle adjustment and fixed-point locking, correcting the horizontal orientation of the glass tube workpiece. The tilting frame 54 is fixedly installed on the left side of the rotating end of the second rotating platform 53 along the left-right direction. 4. It has two stable postures: horizontal storage and vertical operation; there are two fourth electric telescopic rods 55, which are rotatably installed at the front and rear ends of the right side of the rotating end of the second rotating platform 53 through the rotating shaft seat. The top ends of the two fourth electric telescopic rods 55 are rotatably connected to the front and rear ends of the bottom of the rotating end of the flipping frame 54 through the rotating shaft seat. The fourth electric telescopic rods 55 are electrically connected to the AGV robot 51. The fourth electric telescopic rods 55 adopt an industrial-grade micro servo electric push rod structure, which can receive control commands from the AGV robot 51 to realize synchronous extension and contraction, flexible start and stop, and precise stroke locking; the mounting base 56 is fixedly installed in the middle of the upper surface of the rotating end of the flipping frame 54 in the left and right direction;The third limiting component 57 is fixedly installed on the inner rear end of the mounting base 56 in the left-right direction. The third limiting component 57 adopts a linear guide rail limiting structure and is equipped with a high-precision linear sliding pair, which can provide unidirectional precise constraint and guidance for the horizontal displacement of the mounting base plate 59. The lead screw of the lead screw assembly 58 is rotatably installed on the inner front end of the mounting base 56 in the left-right direction through bearings. The mounting base plate 59 is fixedly installed on the top of the limiting end of the third limiting component 57 in the left-right direction. The bottom end of the mounting base plate 59 is connected to the lead screw nut of the lead screw assembly 58. The lead screw assembly 58 adopts a precision ball screw transmission structure, which can convert the rotational motion of the first motor 510 into linear feed motion with high precision. The system is designed to meet the precision unloading and positioning requirements of high borosilicate glass tubes. The first motor 510 is mounted on the left rear end of the mounting base 56. The first motor 510 is electrically connected to the AGV robot 51. The first motor 510 is a high-precision servo drive motor, enabling precise speed adjustment, controllable forward and reverse rotation, and flexible start / stop buffering. As the core power source of the lead screw assembly 58, it provides stable and controllable rotational power for horizontal workpiece pushing, meeting the process requirements for low-speed, stable, and precise unloading of the glass tubes. One end of the transmission belt assembly 511's pulley shaft is fixedly connected to the rotating end of the first motor 510, while the other end of the transmission belt assembly 511's pulley shaft is connected to the lead screw in the lead screw assembly 58. The left end of the shaft is fixedly connected. The transmission belt assembly 511 adopts a combination structure of synchronous toothed belt and high-precision alloy pulley to form a closed-loop synchronous transmission structure, which can transmit the power of the first motor 510 to the lead screw of the lead screw assembly 58. The fifth electric extension rod 512 is fixedly installed on the left side of the upper surface of the mounting base plate 59 through a bracket. The fifth electric extension rod 512 is electrically connected to the AGV robot 51. The fifth electric extension rod 512 adopts a miniature precision electric telescopic module, which can achieve precise extension and retraction, controllable stroke, and instantaneous locking. It can achieve secondary extension push on the basis of the push stroke of the conventional lead screw assembly 58, effectively extending the workpiece unloading feed length and solving the problem of workpiece depth not being in place. To address the issue of insufficient capacity, this device adapts to the unloading needs of loading stations at different depths. The mounting bracket 513 is fixedly installed on the right side of the telescopic end of the fifth electric extension rod 512. The gripper 514 is installed on the top right side of the mounting bracket 513, and is electrically connected to the AGV robot 51. The pipe fixing component 6 is located on the top left side of the rotating end of the flipping frame 54, and above the inner side of the gripper 514. The gripper 514 adopts an electric flexible clamping structure with a built-in pressure sensing feedback module, enabling adaptive closed-loop adjustment of the clamping force. The clamping contact surface uses a flexible, anti-slip, and buffer material, allowing for flexible clamping and fixing of the outer wall of the high borosilicate glass tube, and enabling precise clamping, releasing, and resetting actions.

[0024] As a preferred option, further, such as Figure 9As shown, the pipe fitting fixing component 6 includes: a fixing seat 61, a mounting rod 62, a ball bearing seat 63, a limiting bracket 64, a bevel gear disc 65, a second motor 66, a slot cylinder 67, a telescopic cylinder 68, a shaft 69, a bevel gear 610, a connecting pin 611, and a pressure bar 612; the fixing seat 61 is fixedly installed on the top of the rotating end of the flipping frame 54 in the vertical direction and is located on the outer left side of the mounting base 56; the mounting rod 62 is fixedly installed on the front side of the fixing seat 61 in the horizontal direction via a bracket; there are several ball bearing seats 63, which are fixedly installed on the outer surface of the mounting rod 62 from left to right at intervals. The ball bearing seats 63 adopt an embedded ball bearing base structure, and the base is made of engineering wear-resistant plastic material, with built-in free-rotating... The moving rubber ball bearings, with ball bearing seat 63 serving as sliding support points during the horizontal pushing process of the glass tube workpiece, reduce the contact surface friction during horizontal feeding of the workpiece, prevent scratches caused by hard friction at the bottom of the glass tube, and ensure smooth workpiece pushing; two limit brackets 64 are fixedly installed on the front and rear ends of the left side of the outer wall of the mounting rod 62; the bevel gear disk 65 is fixedly installed on the upper rear side of the outer surface of the fixed seat 61 via a bracket, serving as the fixed base gear of the planetary meshing transmission, and can form a fixed-axis planetary meshing pair with the lower rotating bevel gear 610, providing a stable meshing transmission reference; the second motor 66 is fixedly installed on the upper front side of the outer surface of the fixed seat 61 via a bracket, and the first... The second motor 66 is electrically connected to the AGV robot 51. The second motor 66 is a high-precision servo geared motor, supporting adjustable speed, precise forward and reverse rotation control, and closed-loop angle positioning. It can drive the slot cylinder 67 to rotate clockwise and counterclockwise, adapting to the precision operation requirements of flexible pressing and unloading of glass tubes. The slot cylinder 67 is fixedly installed on the front side of the rotating end of the second motor 66 along the vertical direction via a bracket. The slot cylinder 67 can provide vertical guidance and limit for the telescopic cylinder 68, and can also form a precision helical transmission pair through the outer wall helical groove and connecting pin 611 to realize the conversion of rotational motion into linear telescopic motion. The telescopic cylinder 68 is inserted into the inner cavity of the slot cylinder 67 along the vertical direction. The outer wall of the telescopic cylinder 68 has a circumferential opening from top to bottom that meets the requirements of the slot cylinder 67. The telescopic cylinder 68, with its interconnected spiral grooves, is a lightweight, high-precision alloy cylinder structure. It is vertically inserted into the inner cavity of the slot cylinder 67 and can perform linear reciprocating telescopic movements along the vertical guide groove inside the slot cylinder 67. As a linear telescopic actuator, the telescopic cylinder 68, relying on the cooperation of the external spiral groove and the connecting pin 611, can achieve axial lifting and lowering displacement, driving the top pressure bar 612 to complete the pressing and resetting actions, thus achieving adaptive pressing and fixing of the glass tube workpiece. The shaft 69 is rotatably mounted at the bottom end of the slot cylinder 67 via bearings in the vertical direction, and the top end of the shaft 69 extends into the inner cavity of the telescopic cylinder 68. The bevel gear 610 is fixedly mounted at the bottom end of the shaft 69, and the bevel gear 610 meshes with the bevel gear disk 65.Two connecting pins 611 are installed on the front and rear sides of the outer wall of the shaft 69, respectively. The two connecting pins 611 are inserted into the inner cavity of the spiral groove of the telescopic cylinder 68. The connecting pins 611 rotate synchronously with the shaft 69 and slide along the spiral groove trajectory of the telescopic cylinder 68, forming a high-precision spiral transmission structure that converts the rotational motion of the shaft into the vertical linear telescopic displacement of the telescopic cylinder 68. A pressure rod 612 is fixedly installed at the top of the telescopic cylinder 68 in the vertical direction. The pressure rod 612 adopts a flexible buffer-type clamping rod structure, with a high-toughness, non-slip, flexible material at the clamping end. The pressure rod 612 completes precise vertical displacement with the telescopic cylinder 68's telescopic movement, achieving flexible clamping and limiting of the top of the high borosilicate glass tube workpiece. Combined with the lateral clamping structure, it forms a multi-point composite fixing system, effectively preventing shaking, rotation, and offset during workpiece transfer and pushing, achieving damage-free and highly stable mechanical clamping and fixing of the workpiece.

[0025] As a preferred option, further, such as Figure 7 As shown, the visual inspection and recognition component 7 includes a multi-axis moving platform 71 and a visual inspection camera 72. The multi-axis moving platform 71 is mounted on the flipping frame 54 of the transport mechanism 5, and the visual inspection camera 72 is mounted on the moving end of the multi-axis moving platform 71. It can synchronously switch between vertical and horizontal postures with the flipping frame 54. The visual inspection camera 72 can drive the visual inspection camera 72 to move in the left-right, front-back, and up-down directions.

[0026] When the AGV robot 51 stops outside the loading station of the subsequent processing equipment and the flipping frame 54 switches to a horizontal conveying posture, the vision inspection camera 72 faces the loading port of the equipment. It can collect the spatial position of the loading port, the outline of the pipe and the axial angle information, and identify the height difference, horizontal offset and coaxial deviation between the glass tube and the loading port. This provides visual feedback for the height adjustment of the electric lifting platform 52 and the angle correction of the second rotating platform 53. The bidirectional displacement capability of the multi-axis moving platform 71 can adapt to the loading ports of equipment with different pipe diameters and different installation heights, and flexibly adjust the shooting field of view and focus distance without the need for manual recalibration of the installation position.

[0027] During the process of the lead screw assembly 58 and the fifth electric extension rod 512 driving the glass tube to be horizontally pushed to the equipment station, the visual inspection camera 72 continuously collects images of the glass tube end face, identifies the workpiece's insertion depth, end face flatness and tube opening status in real time, determines whether the workpiece has been completely sent into the target station, and monitors whether abnormal working conditions such as tube opening deviation or hard contact occur during the pushing process.

[0028] In the vertical connection stage where the workpiece is handed over from the conveying mechanism 4 to the transport mechanism 5, when the flipping frame 54 switches to a vertical posture, the visual inspection camera 72 can collect the relative position of the glass tube and the mounting rod 62 upwards, assisting the three-axis moving platform 42 to fine-tune the position of the workpiece and improve the alignment accuracy of the connection between the inner cavity of the glass tube and the mounting rod 62.

[0029] The working principle is as follows: Step 1: Before the equipment is operated, the workers manually stack the batch of high borosilicate glass tube workpieces to be processed into the storage hopper 22 of the feeding mechanism 2 to complete the workpiece storage and preparation operation. The operator starts the built-in automatic control program of the equipment through the control cabinet 1. The preset system inside the control cabinet 1 drives the motor 25, the pushing module 215, the blocking module 29, the first electric telescopic rod 220, the air pump system 28, the micro motor 219, the first telescopic module 32, the second telescopic module 34 and the horizontal movement module 210 in an orderly manner according to the preset logic. Step 2: The drive motor 25 drives the sprocket of the transmission chain 26 at its output end to rotate. Through the closed-loop transmission of the transmission chain 26, the driven sprockets at the bottom of the front and rear conveyor chain plates 24 are driven to rotate synchronously. This drives the two sets of conveyor chain plates 24 to make continuous circumferential lifting motion along the inclined mounting frame 23. Under the continuous lifting and conveying action of the conveyor chain plates 24, the high borosilicate glass tube workpieces stacked in the receiving trough 22 are lifted and conveyed step by step to the interior of the symmetrically arranged track frame 212. Step 3: After the workpiece enters the track frame 212, it slides down naturally along the inclined cavity of the track frame 212 by its own weight and stops at the left side of the blocking block 214 to complete the waiting and positioning. Then, the push modules 215 on the front and rear sides extend synchronously, generating directional thrust to push the stopped glass tube workpiece to slide upward along the left end face of the blocking block 214. With the lateral limiting and guiding effect of the L-shaped guide frame 213, the workpiece is separated into individual pieces, allowing the individual glass tube workpiece to roll over the blocking block 214 and then quickly roll down to the working position of the blocking module 29 via the inclined guide surface of the receiving block 216. At this time, the blocking module 29 extends immediately to limit and block the workpiece that has rolled down to the position axially and radially. Step 4: After the workpiece is positioned, the first electric telescopic rods 220 on both the front and rear sides extend forward synchronously, driving the micro motor 219 to move as a whole. During the movement, the micro motor 219 is constrained by the first limiting component 218, so that the airbags 221 at the end of the micro motor 219 are inserted into the inner cavity ports at both ends of the high borosilicate glass tube workpiece. The air pump system 28 is started and supplies constant pressure to the two sets of airbags 221 through the connecting pipeline, so that the airbags 221 expand at a uniform speed and fit tightly against the inner wall of the glass tube workpiece to achieve non-damaging expansion and fixation. After expansion and tightening, the micro motor 219 starts to rotate, and the friction between the airbags 221 and the inner wall of the workpiece drives the glass tube workpiece to rotate precisely around its own central axis, completing the workpiece angle correction and posture leveling, until the workpiece rotates to the standard processing posture preset by the process and then stops. Step 5: After the workpiece posture calibration is completed, the front and rear fixed components 3 are started synchronously. The first telescopic module 32 extends vertically, driving the top slot seat 33 to move upward, so that the arc-shaped slot of the slot seat 33 engages with the outer wall of the glass tube workpiece, realizing the bottom support and positioning of the workpiece. At the same time, the second telescopic module 34 extends horizontally, driving the stop block 35 to move to the left, fitting against the top outer wall of the workpiece to form an anti-detachment limit, constructing a two-way fixed structure, completely locking the posture and position of the workpiece. After the workpiece is completely fixed and stable, the blocking module 29 retracts and resets, releasing the outer obstruction limit on the workpiece. The horizontal movement module 210 starts, driving the top fixed component 3 and the locked glass tube workpiece to move horizontally to the right and be transported to the docking station directly below the conveying mechanism 4. Step 6: The built-in program in control cabinet 1 synchronously controls the second electric telescopic rod 47, the third electric telescopic rod 49, the rotating module 410, and the three-axis moving platform 42 to work together. The second electric telescopic rod 47 retracts and resets. Through the pivot hinge transmission structure, it pulls the rotating frame 46 to rotate around the bottom pivot of the fixed frame 45, changing it from the initial vertical posture to the horizontal working posture. The first rotating platform 43 starts and drives the bottom mounting plate 44 to rotate horizontally, adjusting the mounting plate 44 and the entire set of clamping execution structures below it to the front-back orientation working state to adapt to the axial clamping requirements of the glass tube workpiece. Step 7: The third electric telescopic rods 49 on the front and rear sides drive the limiting end of the second limiting component 48 to make horizontal displacement adjustment through telescopic movement. Under the limiting constraint of the second limiting component 48, the rotating modules 410 on both sides and the matching clamping module 411 are driven to synchronously fine adjust the spacing. The clamping span is adapted according to the actual length of the glass tube workpiece. After the spacing adjustment is completed, the rotating module 410 is started, driving the clamping module 411 to rotate to the preset clamping angle to ensure that the clamping surface is in contact with the outer wall of the glass tube workpiece. Step 8: After the posture and spacing are adjusted, the three-axis moving platform 42 above the gantry 41 is started, which drives the entire structure below to make a three-dimensional precise displacement, so that the front and rear clamping modules 411 are respectively aligned with the outer walls of the front and rear ends of the glass tube workpiece. The clamping modules 411 are started synchronously to flexibly clamp and fix the glass tube workpiece, stably supporting the workpiece. The second telescopic module 34 and the first telescopic module 32 that originally fixed the workpiece retract and reset in sequence, driving the stop block 35 and the slot seat 33 to release the mechanical limit and support fixation of the workpiece, and completing the workpiece handover at the work station. Step 9: The three-axis moving platform 42 is restarted, driving the clamping mechanism and the clamped glass tube workpiece to move precisely upward and to the right, transferring the workpiece to the docking station directly above the transport mechanism 5, completing the workpiece cross-mechanism transfer operation. After the workpiece is transferred to the station above the transport mechanism 5, the first rotating platform 43 is restarted, driving the mounting top plate 44 to rotate horizontally by 90°, switching the workpiece from front-back orientation to left-right orientation, adapting to the loading docking posture of the transport mechanism 5. At the same time, the second electric telescopic rod 47 extends and resets, pushing the rotating frame 46 to flip from the horizontal posture to the vertical state, so that the glass tube workpiece clamped by the clamping module 411 is in a vertical state, completing the final loading posture calibration of the workpiece. Step 10: Control cabinet 1 starts AGV robot 51 through remote communication module. AGV robot 51 relies on its built-in control program to synchronously link electric lifting platform 52, second motor 66, gripper 514, second rotating platform 53, first motor 510 and fifth electric extension rod 512 to work together. Electric lifting platform 52 is raised and adjusted to the docking height that matches the workpiece. The front and rear sets of fourth electric extension rods 55 extend synchronously, driving the rotating end of flipping frame 54 to flip from the horizontal storage posture to the vertical working posture, so that the mounting rod 62 of pipe fixing component 6 is in a vertical upward state. Three-axis moving platform 42 finely adjusts the position of workpiece, so that the inner cavity of the vertical glass tube workpiece is vertically downward and sleeved on the outside of mounting rod 62. The bottom two ends of the workpiece are precisely attached to the inner wall of the limiting bracket 64 to achieve the initial centering and limiting of the workpiece. Step 11: After alignment, the second motor 66 of the pipe fixing component 6 starts, driving the slot cylinder 67 to rotate clockwise. During the rotation of the slot cylinder 67, the bevel gear 610 at the bottom of the internal shaft 69 rotates around the fixed bevel gear disk 65 in a planetary meshing motion. The shaft 69 simultaneously drives the two sets of connecting pins 611 fixed on the outer wall to rotate circumferentially. The connecting pins 611 and the spiral groove on the inner side of the telescopic cylinder 68 form a high-precision spiral pair transmission structure, which efficiently converts the rotational motion of the shaft into the axial linear lifting motion of the telescopic cylinder 68, driving the telescopic cylinder 68 to extend along the guide groove inside the slot cylinder 67, thereby driving the pressure bar 612 at the top to move and precisely press against the top outer wall of the glass tube workpiece, realizing the top pressing and fixing of the workpiece. At the same time, the clamp 514 above the bracket 217 simultaneously clamps the side wall of the workpiece, forming a multi-point fixing structure of top pressing and side clamping. Step 12: After the workpiece is completely fixed, the AGV robot 51 moves smoothly along the system's preset travel trajectory, travels to the outside of the loading station of the subsequent processing equipment, and after arriving in place, the fourth electric telescopic rod 55 retracts and resets, pulling the tilting frame 54 from the vertical working posture to the horizontal conveying posture; at the same time, the electric lifting platform 52 makes real-time micro-adjustments to the overall working height, so that the center height of the glass tube workpiece is completely matched with the height of the loading station of the processing equipment, and the second rotating platform 53 adjusts the horizontal angle of the tilting frame 54 to ensure that the workpiece and the loading channel of the equipment are coaxially aligned; Step 13: After alignment, the second motor 66 rotates in the reverse direction, driving the slot cylinder 67 to rotate counterclockwise. Through the screw pair transmission, the telescopic cylinder 68 retracts and is stored inside the slot cylinder 67, causing the pressure bar 612 to reset and releasing the clamping limit on the top of the workpiece. The first motor 510 starts, and through the synchronous transmission of the transmission belt assembly 511, it drives the lead screw of the lead screw assembly 58 to rotate. The lead screw nut of the lead screw assembly 58 converts the rotational motion of the lead screw into horizontal linear displacement, causing the mounting base plate 59 to slide smoothly along the limiting guide trajectory of the third limiting assembly 57. The clamping device 514 and the glass tube workpiece clamped and fixed are fed horizontally. The top of the workpiece slides along the ball bearing seat 63 on the mounting rod 62. When the workpiece is transported to the end of the maximum clamping stroke of the clamping device 514, the fifth electric extension rod 512 extends rapidly, pushing the clamping device 514 to continue to move horizontally forward, effectively extending the workpiece pushing stroke and ensuring the workpiece is deeply inserted. The clamping device 514 is released and reset, releasing the side wall clamping limit on the workpiece, so that the high borosilicate glass tube workpiece is completely sent into the loading station of the subsequent processing equipment, and the entire process of automated loading, transfer and precise unloading is completed.

[0030] 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. A high borosilicate glass tube feeding and conveying device based on visual recognition detection, characterized in that, include: Control cabinet (1); The feeding mechanism (2) is located at the rear of the outside of the control cabinet (1); The conveying mechanism (4) is located on the outside right side of the feeding mechanism (2); The transport mechanism (5) is located on the outside right side of the conveying mechanism (4); The visual inspection and recognition component (7) is set on the transport mechanism (5) to detect the insertion depth and end face status of the glass tube, and to determine whether the insertion is in place on the transport mechanism (5) to avoid hard top collision causing the tube to break at the edge; The visual inspection and recognition component (7) includes a multi-axis moving platform (71) and a visual inspection camera (72). The multi-axis moving platform (71) is mounted on the transport mechanism (5), and the visual inspection camera (72) is mounted on the moving end of the multi-axis moving platform (71). The feeding mechanism (2) includes: A fixed frame (21) is provided on the rear side of the control cabinet (1) in the front-rear direction; The storage trough (22) is fixedly installed inside the fixed frame (21) along the front-to-back direction; The mounting bracket (23) is fixedly installed on the right side of the inner cavity of the storage trough (22) in a front-to-back direction, tilted upward from left to right; The conveyor chain plate (24) is two in number, and the two conveyor chain plates (24) are respectively mounted on the front and rear sides of the outside of the mounting frame (23) via a rotating shaft in the up and down direction; The drive motor (25) is fixedly installed on the inner side of the fixed frame (21) and located on the lower left side of the outer side of the storage trough (22). The drive motor (25) is electrically connected to the control cabinet (1). The drive chain (26) has a sprocket shaft fixedly installed at one end of the drive chain (26), and the sprocket at the other end of the drive motor (25) is fixedly connected to the bottom sprocket shaft of the conveyor chain plates (24) on both the front and rear sides.

2. The high borosilicate glass tube feeding and conveying device based on visual recognition detection according to claim 1, characterized in that, The feeding mechanism (2) further includes: A plate frame (27) is fixedly installed on the right side of the outer surface of the fixed frame (21) in the front-back direction; An air pump system (28) is fixedly installed on the lower inner side of the plate frame (27), and the air pump system (28) is electrically connected to the control cabinet (1); The blocking module (29) is fixedly installed in the middle of the upper surface of the plate frame (27), and the blocking module (29) is electrically connected to the control cabinet (1); The horizontal moving module (210) has two components. The two horizontal moving modules (210) are fixedly installed on the upper surface of the plate frame (27) in the left and right directions, and are located on the front and rear sides of the outside of the blocking module (29). The horizontal moving module (210) is electrically connected to the control cabinet (1). Fixed component (3), the number of fixed components (3) is two, and the two fixed components (3) are respectively fixedly installed on the top of the moving end of the front and rear horizontal moving modules (210).

3. The high borosilicate glass tube feeding and conveying device based on visual recognition detection according to claim 2, characterized in that, The upper surface of the plate frame (27) is provided with sequential feeding components on the top front and rear left sides.

4. The high borosilicate glass tube feeding and conveying device based on visual recognition detection according to claim 3, characterized in that, The timing-controlled feeding component includes: The mounting bracket (211) is fixedly installed on the upper surface of the plate frame (27) in the left-right direction and is located on the upper right side of the storage trough (22). The track frame (212) is fixedly installed on the inner side of the outer surface of the mounting frame (211) from left to right at an downward angle. The track frame (212) has a plate-like structure with parallel top and bottom, and is shorter at the top and longer at the bottom. The guide frame (213) is fixedly installed on the inner side of the outer surface of the mounting frame (211) and located on the upper right side of the track frame (212). The guide frame (213) is L-shaped. The blocking block (214) is fixedly installed on the inner side of the track frame (212) and located in the lower center of the guide frame (213); The push module (215) is fixedly installed below the outer surface of the track frame (212) by a bracket. The telescopic end of the push module (215) extends into the inner side of the track frame (212) and is located on the left side of the blocking block (214). The push module (215) is electrically connected to the control cabinet (1). The connecting block (216) is fixedly installed on the inner side of the outer surface of the mounting frame (211) and located on the lower right side of the track frame (212); The bracket (217) is fixedly installed on the outer surface of the track frame (212) in the front-back direction and is located outside the receiving block (216); The first limiting component (218) is fixedly installed on the inner side of the upper surface of the bracket (217) in the front-back direction; A micro motor (219) is fixedly installed on the top of the limiting end of the first limiting component (218) by a bracket, and the micro motor (219) is electrically connected to the control cabinet (1); The first electric telescopic rod (220) is fixedly installed on the outer side of the upper surface of the bracket (217) along the front-back direction by a bracket. The telescopic end of the first electric telescopic rod (220) is connected to the outer side of the micro motor (219). The first electric telescopic rod (220) is electrically connected to the control cabinet (1). An airbag (221) is fixedly installed inside the rotating end of the micro motor (219), and the airbag (221) can be connected to the air outlet of the air pump system (28) through a pipeline.

5. The high borosilicate glass tube feeding and conveying device based on visual recognition detection according to claim 4, characterized in that, The conveying mechanism (4) includes: Gantry frame (41), there are two gantry frames (41), and the two gantry frames (41) are respectively arranged on the front and rear sides of the outer side of the plate frame (27) in the left and right directions; The three-axis moving platform (42) is fixedly installed on the upper inner side of the front and rear gantry frames (41) in the left and right direction. The three-axis moving platform (42) is electrically connected to the control cabinet (1). The first rotating platform (43) is fixedly installed at the bottom of the moving end of the three-axis moving platform (42), and the first rotating platform (43) is electrically connected to the control cabinet (1); The top plate (44) is fixedly installed at the bottom of the rotating end of the first rotating platform (43) in the left-right direction; The fixing bracket (45) is fixedly installed on the bottom right side of the mounting top plate (44) in the vertical direction; The rotating frame (46) is rotatably mounted on the inner bottom of the fixed frame (45) via a rotating shaft in the vertical direction; The second electric telescopic rod (47) is rotatably mounted on the bottom seat side of the mounting top plate (44) via a rotating shaft seat. The telescopic end of the second electric telescopic rod (47) is rotatably connected to the left side of the outer surface of the rotating frame (46) via a rotating shaft seat. The second electric telescopic rod (47) is electrically connected to the control cabinet (1).

6. The high borosilicate glass tube feeding and conveying device based on visual recognition detection according to claim 5, characterized in that, The conveying mechanism (4) further includes: The second limiting component (48) has two components, and the two second limiting components (48) are respectively installed at the upper and lower ends of the middle right side of the outer surface of the rotating frame (46) in the vertical direction; The third electric telescopic rod (49) has two components. The two third electric telescopic rods (49) are respectively installed on the upper and lower ends of the right side of the outer surface of the rotating frame (46) through brackets in the vertical direction. The telescopic ends of the two third electric telescopic rods (49) are respectively connected to the outer side of the limiting ends of the upper and lower second limiting components (48). The third electric telescopic rod (49) is electrically connected to the control cabinet (1). Rotating module (410), there are two rotating modules (410), the two rotating modules (410) are respectively installed on the right side of the limiting end of the upper and lower second limiting components (48), and the rotating module (410) is electrically connected to the control cabinet (1); The clamping module (411) has two clamping modules (411), which are respectively installed on the right side of the rotating end of the two rotating modules (410). The clamping module (411) is electrically connected to the control cabinet (1).

7. The high borosilicate glass tube feeding and conveying device based on visual recognition detection according to claim 6, characterized in that, The transportation agency (5) includes: An AGV robot (51) is installed outside the control cabinet (1), and the AGV robot (51) and the control cabinet (1) are remotely connected via a network. An electric lifting platform (52) is embedded in the middle of the inner side of the AGV robot (51), and the electric lifting platform (52) and the AGV robot (51) are electrically connected. The second rotating platform (53) is fixedly installed on the top of the lifting end of the electric lifting platform (52), and the second rotating platform (53) is electrically connected to the AGV robot (51). The tilting frame (54) is fixedly installed on the left side of the rotating end of the second rotating platform (53) in the left-right direction; The fourth electric telescopic rod (55) consists of two rods. The two rods are rotatably mounted on the front and rear ends of the right side of the rotating end of the second rotating platform (53) via a rotating shaft seat. The top ends of the two rods are rotatably connected to the front and rear ends of the bottom of the rotating end of the flipping frame (54) via the rotating shaft seat. The fourth electric telescopic rod (55) is electrically connected to the AGV robot (51).

8. The high borosilicate glass tube feeding and conveying device based on visual recognition detection according to claim 7, characterized in that, The transportation agency (5) also includes: The mounting base (56) is fixedly installed in the middle of the upper surface of the rotating end of the flipping frame (54) in the left-right direction; The third limiting component (57) is fixedly installed on the inner rear end of the mounting base (56) in the left-right direction; The lead screw assembly (58) has its lead screw screw rotatably mounted on the inner front end of the mounting base (56) in the left-right direction via bearings. The mounting base plate (59) is fixedly installed on the top of the limiting end of the third limiting component (57) in the left-right direction, and the bottom end of the mounting base plate (59) is connected to the lead screw nut of the lead screw assembly (58). The first motor (510) is installed on the left rear end of the mounting base (56), and the first motor (510) is electrically connected to the AGV robot (51). The transmission belt assembly (511) has one end of the pulley shaft fixedly connected to the rotating end of the first motor (510), and the other side of the transmission belt assembly (511) has the pulley shaft fixedly connected to the left end of the screw screw shaft in the screw assembly (58). The fifth electric extension rod (512) is fixedly installed on the left side of the upper surface of the mounting base plate (59) by a bracket, and the fifth electric extension rod (512) is electrically connected to the AGV robot (51); The mounting bracket (513) is fixedly installed on the right side of the telescopic end of the fifth electric extension rod (512); A gripper (514) is mounted on the top right side of the mounting bracket (513), and the gripper (514) is electrically connected to the AGV robot (51). The pipe fixing component (6) is located on the top left side of the rotating end of the flipping frame (54) and above the inner side of the clamp (514).

9. A high borosilicate glass tube feeding and conveying device based on visual recognition detection according to claim 8, characterized in that, The pipe fitting fixing component (6) includes: The fixed base (61) is fixedly installed on the top of the rotating end of the flipping frame (54) in the vertical direction and is located on the outer left side of the mounting base (56); The mounting rod (62) is fixedly mounted on the front side of the fixing base (61) in the left-right direction via a bracket; Ball bearing seat (63), the number of ball bearing seats (63) is several, and several ball bearing seats (63) are fixedly installed on the outer surface of the mounting rod (62) from left to right at intervals; Limiting bracket (64), the number of the limiting bracket (64) is two, and the two limiting brackets (64) are respectively fixedly installed on the front and rear ends of the left side of the outer wall of the mounting rod (62); The bevel gear disk (65) is fixedly mounted on the upper rear side of the outer surface of the fixed base (61) by a bracket; The second motor (66) is fixedly mounted on the upper front side of the outer surface of the fixed base (61) by a bracket, and the second motor (66) is electrically connected to the AGV robot (51); The slot tube (67) is fixedly installed on the front side of the rotating end of the second motor (66) by a bracket along the vertical direction. The slot tube (67) has slots on both the front and rear sides along the vertical direction. The telescopic cylinder (68) is inserted into the inner cavity of the slot cylinder (67) in the vertical direction. The outer wall of the telescopic cylinder (68) is provided with a spiral groove that communicates with the inner cavity from top to bottom along the circumferential direction. A shaft (69) is rotatably mounted on the bottom end of a slot cylinder (67) via a bearing in the vertical direction, and the top end of the shaft (69) extends into the inner cavity of a telescopic cylinder (68). A bevel gear (610) is fixedly installed at the bottom end of the shaft (69), and the bevel gear (610) meshes with a bevel gear disk (65); Connecting pin (611), there are two connecting pins (611), the two connecting pins (611) are respectively installed on the front and rear sides of the outer wall of the shaft (69), and the two connecting pins (611) are respectively inserted into the spiral groove inner cavity of the telescopic cylinder (68); The pressure bar (612) is fixedly installed at the top of the telescopic cylinder (68) in the vertical direction.

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