Laser peeling machine

Abstract

The utility model relates to a laser peeler, which comprises a straight vibration feeding mechanism, a feeding mechanism, a rotating mechanism, a correcting and straightening mechanism, a transferring mechanism, a laser cutting mechanism and a straight vibration discharging mechanism, the straight vibration feeding mechanism feeds a transformer to the feeding mechanism, the feeding mechanism places the transformer in the rotating mechanism, the transferring mechanism transfers the transformer to the correcting and straightening mechanism, and the laser cutting mechanism transfers the transformer to the straight vibration discharging mechanism. The rotating mechanism rotates to the correcting and straightening mechanism, the correcting and straightening mechanism straightens varnished wires on the two sides of a transformer, the transferring mechanism moves the transformer to the laser cutting mechanism, the laser cutting mechanism peels the varnished wires, and the laser cutting mechanism cuts the varnished wires. And the transferring mechanism is used for moving the peeled transformer into the direct vibration discharging mechanism. According to the laser peeling machine, materials can be automatically fed to the correcting and straightening mechanism to straighten enameled wires at the two ends of a transformer, then the straightened transformer is moved into the laser cutting mechanism, one enameled wire is bent, the other enameled wire is cut and peeled, and therefore automatic peeling of the enameled wires is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of transformer production, in particular to a laser peeling machine. Background Art

[0002] At present, the stripping process of transformer enameled wire mainly relies on manual work. The employee picks up the transformer enameled wire and puts it on the furnace, then holds the transformer in one hand and the knife in the other hand to strip the enameled wire. The efficiency of such manual stripping is very low. In addition, the temperature of the furnace is high, and the knife is also dangerous. Employees who work in such an environment for a long time are particularly prone to hitting the furnace or knife, causing burns or scratches when they are physically and mentally exhausted, and the safety factor is not high. Utility Model Content

[0003] The main purpose of the utility model is to provide a laser peeling machine to solve the above technical problems, which solves the technical problems of low efficiency and low safety of manual peeling in the prior art.

[0004] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0005] A laser stripping machine includes a straight vibration loading mechanism, a feeding mechanism, a rotating mechanism, a correction and straightening mechanism, a transfer mechanism, a laser cutting mechanism and a straight vibration unloading mechanism. The straight vibration loading mechanism loads the transformer to the feeding mechanism, the feeding mechanism places the transformer in the rotating mechanism, the rotating mechanism rotates to the correction and straightening mechanism, the correction and straightening mechanism straightens the enameled wires on both sides of the transformer, the transfer mechanism moves the transformer to the laser cutting mechanism, the laser cutting mechanism strips the enameled wires, and the transfer mechanism moves the stripped transformer to the straight vibration unloading mechanism.

[0006] As a preferred technical solution, the feeding mechanism includes a feeding drive structure, a feeding transverse shift seat, a feeding lifting cylinder, a feeding lifting seat, a feeding guide rail and a feeding clamp cylinder. The feeding drive structure drives the feeding transverse shift seat to move, the feeding lifting cylinder and the feeding guide rail are installed on the feeding transverse shift seat, the feeding clamp cylinder is installed in the feeding lifting seat, and the feeding lifting cylinder drives the feeding lifting seat to move along the feeding guide rail.

[0007] As a preferred technical solution, the rotating mechanism includes a rotating bracket, a rotating motor, a rotating fixture and a rotating fixing structure. The rotating fixture is installed at both ends of the rotating bracket, the rotating motor drives the rotating bracket to rotate, and the rotating fixing structure fixes the transformer in the rotating fixture.

[0008] As a preferred technical solution, the correction and straightening mechanism includes a first straightening unit and a second straightening unit, and the first straightening unit and the second straightening unit are arranged on the upper and lower sides of the rotating and fixing structure.

[0009] As a preferred technical solution, the first straightening unit includes a first straightening bracket, a first straightening lifting seat, a first straightening cylinder, a second straightening cylinder, a first straightening transverse shift seat, a first correction clamping cylinder, a first straightening guide rail and a second straightening guide rail, the first straightening guide rail and the first straightening cylinder are installed on the first straightening lifting seat, the second straightening guide rail and the second straightening cylinder are installed on the first straightening lifting seat, the first correction clamping cylinder is installed on the first straightening transverse shift seat, the first straightening cylinder drives the first straightening transverse shift seat to move along the first straightening guide rail, and the second straightening cylinder drives the first straightening transverse shift seat to move along the second straightening guide rail.

[0010] As a preferred technical solution, the second straightening unit includes a second straightening bracket, a second straightening lifting seat, a third straightening cylinder, a third straightening guide rail and a second correction jaw cylinder, the third straightening cylinder and the third straightening guide rail are installed on the second straightening bracket, the second correction jaw cylinder is installed on the second straightening lifting seat, and the third straightening cylinder drives the second correction jaw cylinder to move along the third straightening guide rail.

[0011] As a preferred technical solution, the laser cutting mechanism includes a clamping and rotating component, a clamping and fixing component, a laser component and a bending component. The transfer mechanism places the transformer on the clamping and rotating component, the bending component bends one of its enameled wires, the clamping and fixing component clamps the other enameled wire, and the laser component cuts and peels the enameled wire.

[0012] As a preferred technical solution, the clamping and rotating assembly includes a clamping and rotating bracket, a clamping and rotating cylinder and a clamping and rotating fixture. The clamping and rotating cylinder is installed on the clamping and rotating bracket, and the clamping and rotating cylinder drives the clamping and rotating fixture to rotate.

[0013] As a preferred technical solution, the bending assembly includes a bending lifting cylinder, a bending lifting seat and a bending clamping claw cylinder, the bending lifting cylinder drives the bending lifting seat to move, and the bending clamping claw cylinder is installed on the bending lifting seat.

[0014] As a preferred technical solution, the transfer mechanism includes a first transfer drive structure, a second transfer drive structure, a third transfer drive structure, a transfer clamp cylinder and a transfer movable seat. The first transfer drive structure drives the second transfer drive structure to move, the second transfer drive structure drives the third transfer drive structure to move, the third transfer drive structure drives the transfer movable seat to move, and the transfer clamp cylinder is installed on the transfer movable seat.

[0015] The beneficial effect of the utility model is that the laser stripping machine can automatically feed the correction and straightening mechanism to straighten the enameled wires at both ends of the transformer, and then move the straightened transformer to the laser cutting mechanism, bend one of the enameled wires, and cut and strip the other enameled wire, thereby realizing automatic stripping of the enameled wire without the need for furnace heating, thereby avoiding injuries to operators. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the structure of the laser peeling machine involved in the utility model;

[0017] Figure 2 It is a structural schematic diagram of the feeding mechanism and the rotating mechanism involved in the utility model;

[0018] Figure 3 It is a structural schematic diagram of the correction and straightening mechanism involved in the utility model;

[0019] Figure 4 It is a structural schematic diagram of the transfer mechanism involved in the utility model;

[0020] Figure 5 It is a structural schematic diagram of the first laser cutting mechanism and the second laser cutting mechanism involved in the utility model;

[0021] Figure 6 The utility model is a structural schematic diagram of the direct vibration feeding mechanism. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solution and advantages of the utility model more clear, the utility model is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model and are not used to limit the utility model.

[0023] like Figure 1As shown, a laser stripping machine includes a straight vibration loading mechanism 1, a feeding mechanism 2, a rotating mechanism 3, a correction and straightening mechanism 4, a transfer mechanism 5, a first laser cutting mechanism 6, a second laser cutting mechanism 7 and a straight vibration unloading mechanism 8. The straight vibration loading mechanism 1 loads the transformer to the feeding mechanism 2, the feeding mechanism 2 places the transformer in the rotating mechanism 3, the rotating mechanism 3 rotates to the correction and straightening mechanism 4, the correction and straightening mechanism 4 straightens the enameled wires on both sides of the transformer, and then the rotating mechanism 3 rotates and resets, the transfer mechanism 5 moves the transformer to the first laser cutting mechanism 6, the first laser cutting mechanism 6 strips the enameled wire on one side of the transformer, the transfer mechanism 5 moves the transformer from the first laser cutting mechanism 6 to the second laser cutting mechanism 7, the second laser cutting mechanism 7 strips the enameled wire on the other side of the transformer, the transfer mechanism 5 moves the stripped transformer to the straight vibration unloading mechanism 8, and the straight vibration unloading mechanism 8 unloads the transformer.

[0024] like Figure 2 As shown, the feeding mechanism 2 includes a feeding drive bracket 21, a feeding drive structure 22, a feeding transverse shift seat 24, a feeding lifting cylinder 23, a feeding lifting seat 26, a feeding guide rail 25, a feeding claw cylinder 27, a transfer fixture 28 and a transfer sensor 29. The feeding drive structure 22 drives the feeding transverse shift seat 24 to move, the feeding lifting cylinder 23 and the feeding guide rail 25 are installed on the feeding transverse shift seat 24. In the present embodiment, two feeding claw cylinders 27 are provided, and the two feeding claw cylinders 27 are installed on both sides of the feeding lifting seat 26. The feeding lifting cylinder 23 drives the feeding lifting seat 26 to move along the feeding guide rail 25, and the transfer sensor 29 is aligned with the transfer fixture 28.

[0025] like Figure 2 As shown, the rotating mechanism 3 includes a rotating support frame 31, a rotating support frame 33, a rotating motor 32, a rotating fixture 34, a rotating sensor 35 and a rotating fixing structure 36. The rotating fixture 34 is installed at both ends of the rotating support frame 33, the rotating motor 32 is installed on both sides of the rotating support frame 31, the rotating motor 32 drives the rotating support frame 33 to rotate, the rotating sensor 35 and the rotating fixing structure 36 are installed on one side of the rotating support frame 31, and the rotating fixing structure 36 fixes the transformer in the rotating fixture 34. The rotating fixed structure 36 includes a rotating fixed bracket 361, a rotating fixed cylinder 362, a rotating fixed guide rail 363, a rotating fixed mounting seat 364 and a rotating fixed clamping block 365. The rotating fixed cylinder 362 and the rotating fixed guide rail 363 are installed on the rotating fixed bracket 361, and the rotating fixed clamping block 365 is installed on the rotating fixed mounting seat 364. The rotating fixed cylinder 362 drives the rotating fixed mounting seat 364 to move along the rotating fixed guide rail 363, so that the rotating fixed clamping block 365 presses the transformer located on the rotating fixture 34.

[0026] like Figure 3As shown, the correction and straightening mechanism 4 includes a first straightening unit 41 and a second straightening unit 42. The first straightening unit 41 and the second straightening unit 42 are arranged on the upper and lower sides of the rotating fixed structure 36, and are used to straighten the enameled wires on both sides of the transformer respectively. The first straightening unit 41 includes a first straightening bracket 411, a first straightening lifting seat 413, a first straightening cylinder 412, a second straightening cylinder 414, a first straightening transverse seat 416, a first correction clamping cylinder 417, a first straightening guide rail (not shown in the figure) and a second straightening guide rail 415. The first straightening guide rail and the first straightening cylinder 412 are installed on the first straightening bracket 411, the second straightening guide rail 415 and the second straightening cylinder 414 are installed on the first straightening lifting seat 413, the first correction clamping cylinder 417 is installed on the first straightening transverse seat 416, the first straightening cylinder 412 drives the first straightening transverse seat 413 to move along the first straightening guide rail, and the second straightening cylinder 414 drives the first straightening transverse seat 416 to move along the second straightening guide rail 415. The second straightening unit 42 includes a second straightening bracket 421, a second straightening lifting seat 423, a third straightening cylinder 422, a third straightening guide rail 424 and a second correction clamping cylinder 425. The third straightening cylinder 422 and the third straightening guide rail 424 are installed on the second straightening bracket 421, the second correction clamping cylinder 425 is installed on the second straightening lifting seat 423, and the third straightening cylinder 422 drives the second straightening lifting seat 423 to move along the third straightening guide rail 424.

[0027] like Figure 4 As shown, the transfer mechanism 5 includes a first transfer drive structure 51, a second transfer drive structure 52, a third transfer drive structure 53, a transfer clamp cylinder 55 and a transfer movable seat 54. The first transfer drive structure 51 drives the second transfer drive structure 52 to move, the second transfer drive structure 52 drives the third transfer drive structure 53 to move, the third transfer drive structure 53 drives the transfer movable seat 54 to move, and the transfer clamp cylinder 55 is installed on the transfer movable seat 54. In this embodiment, three transfer clamp cylinders 55 are provided, which can simultaneously move the transformer from the transfer fixture 28 to the first laser cutting mechanism 6, from the first laser cutting mechanism 6 to the second laser cutting mechanism 7, and from the second laser cutting mechanism 7 to the direct vibration blanking mechanism 8.

[0028] like Figure 5As shown, the first laser cutting mechanism 6 includes a first clamping rotating assembly 62, a first clamping fixed cylinder 63, a first laser assembly 61, a first bending assembly 64 and a first dust removal assembly 65. The transfer mechanism 5 places the transformer on the first clamping rotating assembly 62, the first bending assembly 64 bends one of its enameled wires, the first clamping fixed cylinder 63 clamps the other enameled wire, the first laser assembly 61 cuts and peels the enameled wire, and the first dust removal assembly 65 absorbs the dust formed by laser cutting. The first clamping rotating assembly 62 includes a first clamping rotating bracket 621, a first clamping rotating cylinder 622 and a first clamping rotating fixture 623. The first clamping rotating cylinder 622 is installed on the first clamping rotating bracket 621, and the first clamping rotating cylinder 622 drives the first clamping rotating fixture 623 to rotate. The first bending assembly 63 includes a first bending lifting cylinder 631 , a first bending lifting seat 632 and a first bending clamping claw cylinder 633 . The first bending lifting cylinder 631 drives the first bending lifting seat 632 to move, and the first bending clamping claw cylinder 633 is installed on the first bending lifting seat 632 .

[0029] like Figure 5 As shown, the second laser cutting mechanism 7 includes a second clamping rotating assembly 72, a second clamping fixed cylinder 73, a second laser assembly 71, a second bending assembly 74 and a second dust removal assembly 75. The transfer mechanism 5 places the transformer on the second clamping rotating assembly 72, the second bending assembly 74 bends one of its enameled wires, the second clamping fixed cylinder 73 clamps the other enameled wire, the second laser assembly 71 cuts and peels the enameled wire, and the second dust removal assembly 75 absorbs the dust formed by laser cutting. The second clamping rotating assembly 72 includes a second clamping rotating bracket 721, a second clamping rotating cylinder 722 and a second clamping rotating fixture 723. The second clamping rotating cylinder 722 is installed on the second clamping rotating bracket 721, and the second clamping rotating cylinder 722 drives the second clamping rotating fixture 723 to rotate. The second bending assembly 73 includes a second bending lifting cylinder 731 , a second bending lifting seat 732 and a second bending clamping claw cylinder 733 . The second bending lifting cylinder 731 drives the second bending lifting seat 732 to move, and the second bending clamping claw cylinder 733 is installed on the second bending lifting seat 732 .

[0030] like Figure 6 As shown, the direct vibration feeding mechanism 8 includes a feeding direct vibration structure 81, a feeding shifting structure 82 and a feeding in-place sensor 83. The transfer mechanism 5 places the transformer that has completed stripping at the end of the feeding direct vibration structure 81. The feeding in-place sensor 83 senses that the transformer is in place. The feeding shifting structure 82 shifts the transformer to move. The feeding direct vibration structure 81 vibrates to feed the transformer. The feeding shifting structure 82 includes a feeding shifting cylinder 821 and a feeding shifting plate 822. The feeding shifting cylinder 821 drives the feeding shifting plate 822 to move.

[0031] When the above-mentioned laser peeling machine is in use, the straight vibration feeding mechanism 1 vibrates to feed the transformer to the end of the straight vibration feeding mechanism 1, and the feed drive structure 22 drives the feed transverse shift seat 24 to move, so that one of the feed clamping cylinders 27 is aligned with the end of the straight vibration feeding mechanism 1, and the other feed clamping cylinder 27 is aligned with the rotating fixture 34. The feed lifting cylinder 23 drives the feed lifting seat 26 to move along the feed guide rail 25. The two feed clamping cylinders 27 respectively clamp the transformers located on the straight vibration feeding mechanism 1 and the rotating fixture 34. The feed lifting cylinder 23 is reset, and the feed drive structure 22 drives the feed transverse shift seat 24 to move, so that one of the feed clamping cylinders 27 is aligned with the rotating fixture 34, and the other feed clamping cylinder 27 is aligned with the transfer fixture 28. The cylinder 23 drives the feed lifting seat 26 to move along the feed guide rail 25, so that the transformer is placed on the rotating fixture 34 and the transfer fixture 28. The rotating motor 32 drives the rotating bracket 33 to rotate, so that the rotating fixture 34 is aligned with the correction straightening mechanism 4. The rotating fixed cylinder 362 drives the rotating fixed mounting seat 364 to move along the rotating fixed guide rail 363, so that the rotating fixed block 365 presses the transformer located on the rotating fixture 34. The second straightening cylinder 414 drives the first straightening transverse seat 416 to move along the second straightening guide rail 415. The first correction clamping claw cylinder 417 clamps the end of the enameled wire on the upper side of the transformer. The third straightening cylinder 422 drives the second straightening lifting seat 423 to move and extend along the third straightening guide rail 424. The second correction clamping claw The cylinder 425 clamps the end of the enameled wire at the lower side of the transformer, the first straightening cylinder 412 drives the first straightening transverse displacement seat 413 to move along the first straightening guide rail, thereby pulling the enameled wire to be straightened, the third straightening cylinder 422 drives the second straightening lifting seat 423 to move and retract along the third straightening guide rail 424, thereby pulling the enameled wire to be straightened, and after the straightening is completed, the rotating fixed cylinder 362 is reset, the rotating motor 32 drives the rotating bracket 33 to rotate, the feeding mechanism 2 moves the straightened transformer from the rotating fixture 34 to the transfer fixture 28, the transfer sensor 29 recognizes that the transformer is in place, and the transfer mechanism 5 moves the transformer from the transfer fixture 28 to the first clamping rotating fixture 623, and the first clamping rotating cylinder 622 drives the first clamping rotating fixture 623 The transformer is rotated 90° to align the transformer with the first bending assembly 63. The first bending lifting cylinder 631 drives the first bending lifting seat 632 to move, so that the first bending clamping claw cylinder 633 extends out. The first bending clamping claw cylinder 633 clamps one of the enameled wires at one end of the transformer. The first clamping rotating cylinder 622 drives the first clamping rotating fixture 623 to rotate and reset, so that the two enameled wires form a 90° angle. The first clamping rotating cylinder 622 drives the first clamping rotating fixture 623 to rotate 90°, so that the transformer is aligned with the first clamping fixed cylinder 63 to clamp the unbent enameled wire. The first laser assembly 61 will cut and strip the bent enameled wire. After stripping, the first clamping rotating cylinder 622 drives the first clamping rotating fixture 623 to rotate and reset.The transfer mechanism 5 moves the transformer from the first clamping and rotating fixture 623 to the second clamping and rotating fixture 723.

[0032] The second clamping rotary cylinder 722 drives the second clamping rotary fixture 723 to rotate 90°, so that the transformer is aligned with the second bending assembly 73. The second bending lifting cylinder 731 drives the second bending lifting seat 732 to move, so that the second bending clamping claw cylinder 733 extends, and the second bending clamping claw cylinder 733 clamps one of the enameled wires at the other end of the transformer. The second clamping rotary cylinder 722 drives the second clamping rotary fixture 723 to rotate and reset, so that the two enameled wires form a 90° angle. The second clamping rotary cylinder 722 drives the second clamping rotary fixture 723 to rotate and reset, so that the two enameled wires form a 90° angle. The cylinder 722 drives the second clamping rotating fixture 723 to rotate 90°, so that the transformer is aligned with the second clamping fixed cylinder 73 to clamp the unbent enameled wire. The second laser assembly 71 will cut and peel the bent enameled wire. After the peeling is completed, the transfer mechanism 5 moves the transformer from the second clamping rotating fixture 723 to the blanking direct vibration structure 81. The blanking in-place sensor 83 senses that the transformer is in place, and the blanking shifting structure 82 shifts the transformer to move, and the blanking direct vibration structure 81 vibrates to blank the transformer.

[0033] The above-described embodiments are only preferred examples of the present invention and are not intended to limit the scope of implementation of the present invention. Therefore, any equivalent changes or modifications made based on the structures, features and principles described in the patent application scope of the present invention should be included in the scope of the patent application of the present invention.

Claims

1. A laser peeling machine, characterized in that: It includes a straight vibration loading mechanism, a feeding mechanism, a rotating mechanism, a correction and straightening mechanism, a transfer mechanism, a laser cutting mechanism and a straight vibration unloading mechanism. The straight vibration loading mechanism loads the transformer to the feeding mechanism, the feeding mechanism places the transformer in the rotating mechanism, the rotating mechanism rotates to the correction and straightening mechanism, the correction and straightening mechanism straightens the enameled wires on both sides of the transformer, the transfer mechanism moves the transformer to the laser cutting mechanism, the laser cutting mechanism strips the enameled wires, and the transfer mechanism moves the stripped transformer to the straight vibration unloading mechanism.

2. The laser peeling machine according to claim 1, characterized in that: The feeding mechanism includes a feeding drive structure, a feeding transverse shift seat, a feeding lifting cylinder, a feeding lifting seat, a feeding guide rail and a feeding clamping cylinder. The feeding drive structure drives the feeding transverse shift seat to move, the feeding lifting cylinder and the feeding guide rail are installed on the feeding transverse shift seat, the feeding clamping cylinder is installed in the feeding lifting seat, and the feeding lifting cylinder drives the feeding lifting seat to move along the feeding guide rail.

3. The laser peeling machine according to claim 2, characterized in that: The rotating mechanism includes a rotating bracket, a rotating motor, a rotating fixture and a rotating fixing structure. The rotating fixture is installed at both ends of the rotating bracket. The rotating motor drives the rotating bracket to rotate. The rotating fixing structure fixes the transformer in the rotating fixture.

4. The laser peeling machine according to claim 3, characterized in that: The correction and straightening mechanism includes a first straightening unit and a second straightening unit, and the first straightening unit and the second straightening unit are arranged on the upper and lower sides of the rotating and fixing structure.

5. The laser peeling machine according to claim 4, characterized in that: The first straightening unit includes a first straightening bracket, a first straightening lifting seat, a first straightening cylinder, a second straightening cylinder, a first straightening transverse shift seat, a first correction clamping claw cylinder, a first straightening guide rail and a second straightening guide rail. The first straightening guide rail and the first straightening cylinder are installed on the first straightening lifting seat, the second straightening guide rail and the second straightening cylinder are installed on the first straightening lifting seat, the first correction clamping claw cylinder is installed on the first straightening transverse shift seat, the first straightening cylinder drives the first straightening transverse shift seat to move along the first straightening guide rail, and the second straightening cylinder drives the first straightening transverse shift seat to move along the second straightening guide rail.

6. The laser peeling machine according to claim 4, characterized in that: The second straightening unit includes a second straightening bracket, a second straightening lifting seat, a third straightening cylinder, a third straightening guide rail and a second correction jaw cylinder. The third straightening cylinder and the third straightening guide rail are installed on the second straightening bracket, the second correction jaw cylinder is installed on the second straightening lifting seat, and the third straightening cylinder drives the second correction jaw cylinder to move along the third straightening guide rail.

7. The laser peeling machine according to claim 3, characterized in that: The laser cutting mechanism includes a clamping and rotating component, a clamping and fixing component, a laser component and a bending component. The transfer mechanism places the transformer on the clamping and rotating component, the bending component bends one of its enameled wires, the clamping and fixing component clamps the other enameled wire, and the laser component cuts and peels the enameled wire.

8. The laser peeling machine according to claim 7, characterized in that: The clamping and rotating assembly comprises a clamping and rotating bracket, a clamping and rotating cylinder and a clamping and rotating fixture. The clamping and rotating cylinder is installed on the clamping and rotating bracket, and the clamping and rotating cylinder drives the clamping and rotating fixture to rotate.

9. The laser peeling machine according to claim 7, characterized in that: The bending assembly comprises a bending lifting cylinder, a bending lifting seat and a bending clamping claw cylinder. The bending lifting cylinder drives the bending lifting seat to move, and the bending clamping claw cylinder is installed on the bending lifting seat.

10. The laser peeling machine according to claim 7, characterized in that: The transfer mechanism includes a first transfer drive structure, a second transfer drive structure, a third transfer drive structure, a transfer clamp cylinder and a transfer movable seat. The first transfer drive structure drives the second transfer drive structure to move, the second transfer drive structure drives the third transfer drive structure to move, the third transfer drive structure drives the transfer movable seat to move, and the transfer clamp cylinder is installed on the transfer movable seat.

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