Novel material suction module

Abstract

The utility model discloses a novel material suction module. The novel material suction module comprises a suction head, a vacuum guide rod connected with the suction head, an R-axis module used for driving the vacuum guide rod to rotate, a Z-axis module used for driving the suction head to ascend and descend and a sensor used for detecting the pressure of the suction head. The vacuum guide rod is adopted to be connected with the suction head, so that the suction head can normally achieve the suction function, the R-axis module drives the vacuum guide rod to rotate, and therefore angle deviation adjustment can be conducted after the suction head grabs a product, and it is ensured that the product can be accurately buckled in place.

Description

Technical field:

[0001] The utility model relates to the technical field of automatic assembly, in particular to a new type of material suction module. Background technology:

[0002] The suction module is one of the important modules in the automated production process. It is mainly used to grasp products and is often used in moving mechanisms such as manipulators, cutting mechanisms, and handling mechanisms. The existing suction heads with similar functions have a fixed inclination angle on the horizontal plane and are usually flush with the horizontal plane. For example, Chinese patent application number 202122101046.0 is a folding jig for assembling laptop computer keycaps. In the technical solution disclosed in the patent, a negative pressure pipe 6 is used to connect the vacuum generator and the adsorption unit 3, so that the adsorption unit 3 generates negative pressure, thereby grasping the keycap. Since the end face of the adsorption hole 5 in the adsorption unit 3 is a plane, and the angle of the adsorption block 4 cannot be adjusted, the angle cannot be adjusted left and right, resulting in low precision during assembly and easy damage to the keycap.

[0003] In view of this, the inventor proposes the following technical solution. Utility model content:

[0004] The purpose of the utility model is to overcome the deficiencies of the prior art and provide a new material suction module.

[0005] In order to solve the above technical problems, the utility model adopts the following technical solutions: a new material suction module, including: a suction head, a vacuum guide rod connected to the suction head, an R-axis module for driving the vacuum guide rod to rotate, a Z-axis module for driving the suction head to rise and fall, and a sensor for detecting the suction head pressure.

[0006] Furthermore, in the above technical solution, the suction head includes a suction head seat installed on the end of the vacuum guide rod, an accordion-shaped suction cup arranged in the suction head seat and capable of being extended, and at least one telescopic rod arranged in the suction head seat and extended.

[0007] Furthermore, the above technical solution also includes a Z-axis guide rail, a first slider arranged on the Z-axis guide rail and used to install the R-axis module, and a second slider arranged on the Z-axis guide rail and installed for supporting and positioning the vacuum guide rod, the sensor is connected between the first slider and the second slider, and the second slider is provided with at least two first bearings for positioning the vacuum guide rod.

[0008] Furthermore, in the above technical solution, a buffer guide rod is provided between the first slider and the Z-axis module, and the buffer guide rod includes a sleeve installed on the first slider, a clamping block clamped on the first pulley group in the Z-axis module, and a movable rod installed on the clamping block and extending into the sleeve.

[0009] Furthermore, in the above technical solution, the Z-axis guide rail and the Z-axis module are installed on the X-axis moving module, and six groups of the suction heads are arranged in parallel on the X-axis moving module. The Z-axis module includes a first motor and a first pulley group connecting the first motor and the buffer guide rod, and the two sides of the first pulley group are respectively connected to one of the buffer guide rods, and drive the two suction heads to move up and down alternately.

[0010] Furthermore, in the above technical solution, the R-axis module is a double-headed motor, and the main shaft of the double-headed motor is a hollow shaft, with the vacuum guide rod and the air pipe rotary joint respectively connected at both ends.

[0011] After adopting the above technical scheme, the utility model has the following beneficial effects compared with the prior art: the utility model adopts a vacuum guide rod to connect the suction head, so that the suction head can normally realize the adsorption function, and the vacuum guide rod is driven to rotate by the R-axis module, thereby realizing the angle offset adjustment after the suction head grabs the key, ensuring that the key can be accurately buckled onto the KBM semi-finished product. Secondly, a first slider and a second slider are set on the Z-axis guide rail for installing the R-axis module and the vacuum guide rod respectively, and the sensor is fixed between the first slider and the second slider. When the Z-axis module lifts and moves the suction module, the force on the suction head needs to be applied to the second slider through the first slider via the sensor, and then the suction head is driven by the second slider to work, thereby realizing the monitoring of the pressure applied to the suction head through the sensor, avoiding the suction head from crushing the key when picking up materials or assembling, thereby ensuring the accuracy of the assembly of the key A. Description of the drawings:

[0012] Figure 1 This is a schematic diagram of the structure of the embodiment of the utility model Figure 1 ;

[0013] Figure 2 This is a schematic diagram of the structure of the embodiment of the utility model Figure 2 ;

[0014] Figure 3 This is a schematic diagram of the structure of the first assembly robot module in the embodiment of the utility model;

[0015] Figure 4 This is a schematic diagram of the structure of the utility model Figure 1 ;

[0016] Figure 5 This is a schematic diagram of the structure of the utility model Figure 2 ;

[0017] Figure 6 It is a cross-sectional view of the utility model;

[0018] Figure 7 It is a structural schematic diagram of a KBM semi-finished product feeding module in an embodiment of the utility model. Specific implementation method:

[0019] The utility model is further described below in conjunction with specific embodiments and drawings.

[0020] See Figures 4 to 6 As shown, a novel material suction module includes: a suction head 431, a vacuum guide rod 432 connected to the suction head 431, an R-axis module 433 for driving the vacuum guide rod 432 to rotate, a Z-axis module 45 for driving the suction head 431 to rise and fall, and a sensor 434 for detecting the pressure of the suction head 431. The suction head 431 includes a suction head seat 431A installed at the end of the vacuum guide rod 432, an accordion-shaped suction cup 431B disposed in the suction head seat 431A and capable of extending, and at least one telescopic rod 431C disposed in the suction head seat 431A and extending. The suction module also includes a Z-axis guide rail 435, a first slider 436 disposed on the Z-axis guide rail 435 and used to install the R-axis module 433, and a second slider 437 disposed on the Z-axis guide rail 435 and installed to support and position the vacuum guide rod 432. The sensor 434 is connected between the first slider 436 and the second slider 437, and the second slider 437 is provided with at least two first bearings for positioning the vacuum guide rod 432. A buffer guide rod 438 is provided between the first slider 436 and the Z-axis module 45, and the buffer guide rod 438 includes a sleeve 438A installed on the first slider 436, a clamping block 438B clamped on the first pulley group 452 in the Z-axis module 45, and a movable rod 438C installed on the clamping block 438B and extending into the sleeve 438A. The Z-axis guide rail 435 and the Z-axis module 45 are installed on the X-axis moving module 42, and six groups of the suction heads 431 are arranged in parallel on the X-axis moving module 42. The Z-axis module 45 includes a first motor 451 and a first pulley group 452 connecting the first motor 451 and the buffer guide rod 438, and the two sides of the first pulley group 452 are respectively connected to one of the buffer guide rods 438, and drive the two suction heads 431 to move up and down alternately. The R-axis module 433 is a double-headed motor, and the main shaft of the double-headed motor is a hollow shaft, and the two ends are respectively connected to the vacuum guide rod 432 and the air pipe rotary joint 439.

[0021] In summary, the utility model is mainly used in applications where a specific tilt angle needs to be automatically achieved in the horizontal direction after the parts are sucked. The R-axis module 433 and the Z-axis module 45 in the module can adjust the suction head 431 to rotate left and right and move up and down, thereby realizing the functions of rotational buckle and pressing, and a sensor 434 is provided in the module, and the sensor 434 is a gravity sensor. Secondly, the suction head 431 contains a retractable guide rod 431C, which can automatically form a specific angle when sucking parts. When the parts are pressed down for assembly, the retractable rod 431C automatically contracts under pressure to achieve horizontal pressing of parts.

[0022] See Figures 1 to 7 As shown, a new type of material sorting and assembly equipment comprises: a KBM semi-finished product feeding module 1, a key board feeding module 2 arranged in parallel beside the KBM semi-finished product feeding module 1, a first bulk key feeding mechanism 3 arranged between the KBM semi-finished product feeding module 1 and the key board feeding module 2, a first assembly robot module 4 arranged across the KBM semi-finished product feeding module 1 and the key board feeding module 2, and a first positioning camera 5 arranged between the KBM semi-finished product feeding module 1 and the key board feeding module 2 and used for visually positioning the key A, and the first assembly robot module 4 is used to grab the key A from the key board feeding module 2 and the first bulk key feeding mechanism 3 and install it on the KBM semi-finished product B in the KBM semi-finished product feeding module 1. By adopting two feeding methods of key A, namely the key board feeding module 2 and the first bulk key feeding mechanism 3, keyboards of different models, shapes and quantities can be assembled with high flexibility. When switching the assembly of different keyboards, there is no need to replace the jig, which greatly improves the efficiency of line change. In addition, the first positioning camera 5 is used to identify the position of key A to achieve high-precision assembly of key A.

[0023] The first assembly robot module 4 includes a Y-axis moving module 41 which is arranged across the KBM semi-finished product loading module 1 and the key board feeding module 2, an X-axis moving module 42 which is arranged on the Y-axis moving module 41 and is parallel to the KBM semi-finished product loading module 1 and the key board feeding module 2, a plurality of suction modules 43 which are arranged on the X-axis moving module 42 and are used to grab the key A, and a second positioning camera 44 which is arranged next to the suction module 43 and is used to position the KBM semi-finished product B. A second positioning camera 44 is arranged on the first assembly robot module 4 to move with the suction module 43. Before the suction module 43 assembles the character key A onto the KBM semi-finished product B, the second positioning camera 44 is used to first take a picture of the KBM semi-finished product B to capture the installation position information of the character key A. Then, combined with the character key A position information obtained by the first positioning camera 44, the character key A is buckled onto the KBM semi-finished product B through the suction module 43, thereby realizing the precise assembly of the character key A and greatly improving the docking accuracy between the character key A and the KBM semi-finished product B.

[0024] The suction module 43 includes a suction head 431, a vacuum guide rod 432 connected to the suction head 431, an R-axis module 433 for driving the vacuum guide rod 432 to rotate, and a sensor 434 for detecting the pressure of the suction head 431. The X-axis moving module 42 is provided with a Z-axis module 45 for driving the suction module 43 to rise and fall. The suction module 43 also includes a Z-axis guide rail 435 vertically mounted on the X-axis moving module 42, a first slider 436 disposed on the Z-axis guide rail 435 and used to mount the R-axis module 433, and a second slider 437 disposed on the Z-axis guide rail 435 and mounted for supporting and positioning the vacuum guide rod 432. The sensor 434 is connected between the first slider 436 and the second slider 437, and the second slider 437 is provided with at least two first bearings for positioning the vacuum guide rod 432. The vacuum guide rod 432 is used to connect the suction head 431, so that the suction head 431 can perform the adsorption function normally, and the vacuum guide rod 432 is driven by the R-axis module 433 to rotate, thereby achieving the angle offset adjustment after the suction head 431 grabs the key A, ensuring that the key A can be accurately buckled onto the KBM semi-finished product B. Secondly, a first slider 436 and a second slider 437 for installing the R-axis module 433 and the vacuum guide rod 432 respectively are provided on the Z-axis guide rail 435, and the sensor 434 is fixed between the first slider 436 and the second slider 437. When the Z-axis module 45 moves the suction module 43 up and down, the force on the suction head 431 needs to be applied to the second slider 437 through the first slider 436 via the sensor 434, and then the suction head 431 is driven by the second slider 437 to work, thereby realizing the monitoring of the pressure applied by the suction head 431 through the sensor 434, so as to prevent the suction head 431 from crushing the key A when taking materials or assembling, thereby ensuring the accuracy of the assembly of the key A.

[0025] A buffer guide rod 438 is provided between the first slider 436 and the Z-axis module 45, and the buffer guide rod 438 includes a sleeve 438A mounted on the first slider 436, a clamping block 438B clamped on the first pulley set 452 in the Z-axis module 45, and a movable rod 438C mounted on the clamping block 438B and extending into the sleeve 438A. The R-axis module 433 is a double-headed motor, and the main shaft of the double-headed motor is a hollow shaft, and the two ends are respectively connected to the vacuum guide rod 432 and the air pipe rotary joint 439. The Z-axis module 45 is used to drive the suction head 431 by pushing the first slider 436 to move through the buffer guide rod 438, and the movable rod 438C is used to move in the sleeve 428A, so that when the suction head 431 contacts the key A and snaps the key A onto the KBM semi-finished product B, rigid contact is avoided, which causes damage to the key A or the KBM semi-finished product B, greatly improving the assembly qualification rate of the product and reducing the appearance of defective products. Secondly, the R-axis module 433 uses a double-headed motor, and the main shaft is set as a hollow shaft with a center through, so that the vacuum guide rod 432 and the air pipe rotary joint 439 can be installed at both ends of the main shaft, and the main shaft is used for air flow conduction, and the air pipe rotary joint 439 uses a joint that can rotate relative to the main shaft, so that the R-axis module 433 can drive the vacuum guide rod 432 to rotate, and can ensure the normal operation of the suction head 431, and realize rotation snapping and pressing, with a simple structure and good effect.

[0026] The suction head 431 includes a suction head seat 431A installed at the end of the vacuum guide rod 432, an accordion-shaped suction cup 431B disposed in the suction head seat 431A and capable of extending, and at least one telescopic rod 431C disposed in the suction head seat 431A and extending. A telescopic rod 431C protruding from the lower end is provided at the bottom of the suction head 431. When the accordion-type suction cup 431B absorbs the key A, the telescopic rod 431C can be used to grab the key A at a certain oblique angle. The suction cup of the accordion-type suction cup 431B can ensure that the key A is stably and accurately grasped, and after the key A is lifted up by the telescopic rod 431C, it can still ensure stable grasping. When the key A is pressed down and buckled onto the KBM semi-finished product B, the end of the key A pushed out by the telescopic rod 431C is buckled before the KBM semi-finished product B, and then as the suction head 431 is pressed down, the telescopic rod 431C automatically contracts, so that the other end of the key A is buckled with the KBM semi-finished product B, thereby realizing horizontal pressing of the key A and the KBM semi-finished product B.

[0027] Six groups of the suction modules 43 are arranged in parallel on the X-axis moving module 42, and the Z-axis module 45 includes a first motor 451 and a first pulley group 452 connecting the first motor 451 and the suction module 43, and the two sides of the first pulley group 452 are respectively connected to one suction module 43, and drive the two suction modules 43 to move up and down alternately.

[0028] The KBM semi-finished product feeding module 1 includes a first conveyor belt mechanism 11 and a second conveyor belt mechanism 12 arranged in parallel on both sides, a plurality of support belts 13 arranged between the first conveyor belt mechanism 11 and the second conveyor belt mechanism 12 and used to support the KBM semi-finished product B, a lifting and positioning device 14 arranged below the support belt 13 and used to lift the KBM semi-finished product B, and a track width adjustment device 15 used to drive the second conveyor belt mechanism 12 to move closer to or away from the first conveyor belt mechanism 11. A plurality of support belts 13 are used to support the KBM semi-finished product B, and then the first conveyor belt mechanism 11 and the second conveyor belt mechanism 12 on both sides drive the KBM semi-finished product B to move and transfer, thereby eliminating the traditional way of transferring through a carrier. The support belt 13 can be used to transfer soft products such as the KBM semi-finished product B, and the KBM semi-finished product B is laid flat on the support belt 13 to prevent scratches and effectively protect flexible and fragile parts. At the same time, the carrier is saved, the cost can be reduced, and the cost time of changing the carrier for the product is saved. The support belt 13 is a belt. Secondly, the track width adjustment device 15 drives the second conveyor belt mechanism 12 to move closer to or away from the first conveyor belt mechanism 11, so as to adjust the track width between the first conveyor belt mechanism 11 and the second conveyor belt mechanism 12, thereby realizing the transmission of KBM semi-finished products B of different widths and models, with strong versatility.

[0029] The KBM semi-finished product feeding module 1 also includes a first support seat 16 and a second support seat 17 arranged below the first conveyor belt mechanism 11 and the second conveyor belt mechanism 12. The first conveyor belt mechanism 11 is installed on one end of the first support seat 16 and the second support seat 17 through a fixed bracket 18, and the second conveyor belt mechanism 12 is installed on the other end of the first support seat 16 and the second support seat 17 through a sliding bracket 19. The first support seat 16 and the second support seat 17 are respectively provided with a first Y-axis guide rail 161 and a second Y-axis guide rail 171 for the movement of the sliding bracket 19, and the track width adjustment device 15 is a screw motor module and is connected to the sliding bracket 19. The sliding bracket 19 is used to install and support the second conveyor belt mechanism 12, and the first Y-axis guide rail 161 and the second Y-axis guide rail 171 are provided on the first support seat 16 and the second support seat 17 to support the sliding bracket 19, so that the track width adjustment device 15 can promptly and quickly drive the second conveyor belt mechanism 12 to move closer to or away from the first conveyor belt mechanism 11.

[0030] The fixed bracket 18 and the sliding bracket 19 are respectively provided with a first support shaft 131 and a second support shaft 132 for supporting and installing the support belt 13 at both ends, and a plurality of first positioning sleeves 133 and a second positioning sleeve 134 for installing the support belt 13 are respectively provided on the first support shaft 131 and the second support shaft 132, and a second bearing and a third bearing are respectively provided between the first positioning sleeve 133 and the second positioning sleeve 134 and the first support shaft 131 and the second support shaft 132, and the first bearing seat 191 and the second bearing seat 192 are respectively provided at both ends of the sliding bracket 19 for the first support shaft 131 and the second support shaft 132 to pass through and slide relative to each other. The support belt 13 is installed and supported by arranging a first support shaft 131 and a second support shaft 132 on the fixed bracket 18 and the sliding bracket 19, and the support belt 13 is installed by respectively sleeved with a first positioning sleeve 133 and a second positioning sleeve 134 on the first support shaft 131 and the second support shaft 132, and a second bearing and a third bearing are respectively arranged in the first support shaft 131 and the second support shaft 132, and at least two installation grooves for sleeved support belt 13 are arranged on the first positioning sleeve 133 and the second positioning sleeve 134, so that when the first conveyor belt mechanism 11 and the second conveyor belt mechanism 12 drive the KBM semi-finished product B to move, the support belt 13 can move accordingly, thereby ensuring the accurate transmission of the KBM semi-finished product B.

[0031] The lifting and positioning device 14 includes a lifting seat 141 disposed below the support belt 13, a plurality of lifting blocks 142 arranged at intervals on the lifting seat 141 and capable of passing through the support belt 13 to lift the KBM semi-finished product B, and a lifting cylinder 143 disposed below the lifting seat 141, wherein the gap between the lifting blocks 142 is greater than or equal to the width of the support belt 13. A first vertical plate 144 and a second vertical plate 145 for guiding the movement and positioning of the lifting seat 141 are disposed between the first support seat 16 and the second support seat 17, and the first vertical plate 144 and the second vertical plate 145 are respectively located on both sides of the lifting seat 141 and are connected by a slide rail slider. By arranging a plurality of lifting blocks 142 on the lifting seat 141, when the lifting and positioning device 14 lifts and positions the KBM semi-finished product B, the lifting blocks 142 pass through the support belts 13 to lift the KBM semi-finished product B, thereby realizing the positioning of the KBM semi-finished product B without interference from the support belt 13.

[0032] The first bulk key feeding mechanism 3 includes a soft vibration silo 31, a flexible vibration plate 32 arranged beside the soft vibration silo 31 and used to vibrate the key A, and a soft vibration camera module 33 arranged above the flexible vibration plate 32 and used to position the key A. The soft vibration camera module 33 is located above the first assembly robot module 4, and the first positioning camera 5 is located between the flexible vibration plate 32 and the KBM semi-finished product feeding module 1.

[0033] A second assembly robot module 40 with the same structure is symmetrically arranged beside the first assembly robot module 4, and a second bulk key feeding mechanism 30 with the same structure and symmetrical distribution as the first bulk key feeding mechanism 3 is also arranged on one side of the second assembly robot module 40, and another first positioning camera 5 is also arranged beside the second bulk key feeding mechanism 30. The KBM semi-finished product feeding module 1 and the key board feeding module 2 are both docked and arranged in two groups, and are respectively located below the first assembly robot module 4 and the second assembly robot module 40, and are respectively located on both sides of the first bulk key feeding mechanism 3 and the second bulk key feeding mechanism 30. A first assembly robot module 4 and a second assembly robot module 40 are symmetrically arranged, as well as a first bulk key feeding mechanism 3 and a second bulk key feeding mechanism 30 are symmetrically distributed on both sides, and two first positioning cameras 5 are arranged for coordinated assembly. Therefore, two sets of KBM semi-finished product loading modules 1 and key board feeding modules 2 can independently transfer two keys A and KBM semi-finished product B for assembly, and can also complete the assembly of a complex KBM semi-finished product B by coordination.

[0034] In summary, the present embodiment works as follows: the KBM semi-finished product feeding module 1 and the character key board feeding module 2 synchronously transfer the KBM semi-finished product B and the character key A to the two ends of the first assembly module manipulator 4, and the first bulk character key feeding module 3 spreads the special-shaped or other types of character keys A under the first assembly manipulator module 4; further, the first assembly manipulator module 4 grabs the character key A from the character key board feeding module 2 and assembles it on the KBM semi-finished product B on the KBM semi-finished product feeding module 1, and when grabbing the character key A and moving it to the top of the first positioning camera 5, the first positioning camera 5 takes a photo to detect the size and position information of the character key A, and then ... then the first assembly manipulator module 4 grabs the character key A from the character key board feeding module 2 and assembles it on the KBM semi-finished product B on the KBM semi-finished product feeding module 1, and when grabbing the character key A and moving it to the top of the first positioning camera 5, the first positioning camera 5 takes a photo to detect the size and position information of the character key A, and then the first assembly manipulator module 4 grabs the character key A from the character key board feeding module 2 and assembles it on the KBM semi-finished product B on the KBM semi-finished product The second positioning camera 44 on the manipulator module 4 moves to the top of the KBM semi-finished product B to take pictures to obtain the installation position information, and then accurately installs the key A on the KBM semi-finished product B based on the information obtained by the two cameras; further, the first assembly manipulator module 4 moves to the top of the first bulk key feeding mechanism 3 to grab the appropriate key A, and takes pictures with the first positioning camera 5 and the second positioning camera 44 to obtain the position information, and accurately installs the key A to the appropriate position of the KBM semi-finished product B; further, after all the keys A are installed on the KBM semi-finished product B, the KBM semi-finished product feeding module 1 moves the KBM semi-finished product B to the next workstation for continued assembly.

[0035] Of course, the above description is only a specific embodiment of the present invention and is not intended to limit the scope of implementation of the present invention. Any equivalent changes or modifications made according to the structure, characteristics and principles described in the patent application scope of the present invention should be included in the patent application scope of the present invention.

Claims

1. A new material suction module, characterized in that: include: A suction head (431), a vacuum guide rod (432) connected to the suction head (431), an R-axis module (433) for driving the vacuum guide rod (432) to rotate, a Z-axis module (45) for driving the suction head (431) to rise and fall, and a sensor (434) for detecting the pressure of the suction head (431).

2. A novel material suction module according to claim 1, characterized in that: The suction head (431) comprises a suction head seat (431A) mounted on the end of the vacuum guide rod (432), an accordion-shaped suction cup (431B) disposed in the suction head seat (431A) and capable of being extended, and at least one telescopic rod (431C) disposed in the suction head seat (431A) and extending therefrom.

3. A novel material suction module according to claim 1, characterized in that: It also includes a Z-axis guide rail (435), a first slider (436) arranged on the Z-axis guide rail (435) and used to install the R-axis module (433), and a second slider (437) arranged on the Z-axis guide rail (435) and installed with a slider for supporting and positioning the vacuum guide rod (432). The sensor (434) is connected between the first slider (436) and the second slider (437), and the second slider (437) is provided with at least two first bearings for positioning the vacuum guide rod (432).

4. A novel material suction module according to claim 3, characterized in that: A buffer guide rod (438) is provided between the first slider (436) and the Z-axis module (45) to connect, and the buffer guide rod (438) includes a sleeve (438A) installed on the first slider (436), a clamping block (438B) clamped on the first pulley group (452) in the Z-axis module (45), and a movable rod (438C) installed on the clamping block (438B) and extending into the sleeve (438A).

5. A novel material suction module according to claim 4, characterized in that: The Z-axis guide rail (435) and the Z-axis module (45) are installed on the X-axis moving module (42), and six groups of suction heads (431) are arranged in parallel on the X-axis moving module (42). The Z-axis module (45) includes a first motor (451) and a first pulley group (452) connecting the first motor (451) and the buffer guide rod (438), and the two sides of the first pulley group (452) are respectively connected to one buffer guide rod (438), and drive the two suction heads (431) to move up and down alternately.

6. A novel material suction module according to any one of claims 1 to 5, characterized in that: The R-axis module (433) is a double-headed motor, and the main shaft of the double-headed motor is a hollow shaft, with both ends respectively connected to the vacuum guide rod (432) and the air pipe rotary joint (439).

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