Butt joint transplanter

Abstract

The utility model discloses a butt joint transplanter which comprises a machine frame, and a plate disassembling station, a transfer station and a plate discharging station are arranged on the machine frame. The carrier feeding and discharging conveying track is installed on the rack and used for receiving the carriers carrying the PCBs, conveying the carriers to the board disassembling station and outputting the carriers taking out the PCBs; the PCB transplanting manipulator is mounted on the rack and is used for sucking the PCBs on the carriers positioned on the board disassembling station to the transfer station; and the board discharging and transplanting mechanism is mounted on the rack and used for receiving the PCBs located at the transfer station and conveying the PCBs to the board discharging station. According to the utility model, the PCB can be automatically taken out from the carrier before being processed by the PCB processing equipment and conveyed to the board taking station of the PCB processing equipment, so that the traditional manual operation is replaced, the steps of the manual operation are greatly reduced, and the production efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of PCB production and processing, and specifically to a docking transplanting machine. Background Art

[0002] In the rapid development of the electronics industry in the 21st century, PCB (printed circuit board) is one of the core components of electronic equipment, and its performance and quality have a vital impact on the reliability, stability and functionality of the entire electronic product. With the continuous improvement of PCB board process requirements, higher challenges have been posed to the accuracy, efficiency and compatibility of processing equipment.

[0003] In the production process of PCB boards, carriers play an important role. They are widely used in the transportation and storage of PCB boards to ensure that PCB boards will not be contaminated, scratched or otherwise damaged during processing. However, although carriers play an indispensable role in PCB board processing, some existing PCB board processing equipment is not compatible with PCB boards with carriers. Before processing, this type of PCB board processing equipment needs to manually remove the PCB board from the carrier and then place it on the material removal station. This operation not only increases labor costs, but also reduces production efficiency. At the same time, manual operation also increases the risk of damage to the PCB board. In the highly automated modern manufacturing industry, this low level of automation is obviously not in line with the development trend of the industry.

[0004] The above shortcomings need to be improved. Utility Model Content

[0005] In order to overcome the problem in the prior art that some PCB board processing equipment is not compatible with PCB boards with carriers and that the PCB boards need to be manually taken out of the carriers before processing, the utility model provides a docking transplanter.

[0006] The technical solution of the utility model is as follows:

[0007] A docking transplanter, comprising:

[0008] A frame, wherein the frame is provided with a board removal station, a transfer station and a board output station;

[0009] A carrier in-and-out conveyor track is installed on the frame, and is used to receive a carrier carrying a PCB board and transport the carrier to the board removal station, and output the carrier that has taken out the PCB board;

[0010] A PCB board transfer robot, installed on the frame, used to suck the PCB board on the carrier located at the board removal station to the transfer station;

[0011] The board-outgoing and transferring mechanism is installed on the frame and is used for receiving the PCB board located at the transfer station and conveying the PCB board to the board-outgoing station.

[0012] As a preferred solution of the utility model, the carrier in-and-out material conveying track includes a fixed rail and a movable rail that are relatively arranged, and the movable rail can be close to or away from the fixed rail.

[0013] As a preferred solution of the utility model, a transmission belt is provided on one side opposite to the fixed rail and the movable rail, and the transmission belt is connected to a belt drive motor through a transmission assembly.

[0014] As a preferred solution of the utility model, a vertically upward blocking cylinder is provided at the lower end of the opposite side of the fixed rail and the movable rail and at the end position of the panel removal station, and a carrier baffle is provided at the telescopic end of the blocking cylinder;

[0015] When the blocking cylinder extends out of the carrier baffle, the top of the carrier baffle is higher than the upper surface of the conveyor belt to block the carrier;

[0016] When the blocking cylinder retracts the carrier baffle, the top of the carrier baffle is lower than the upper surface of the conveyor belt to release the blocking of the carrier.

[0017] As a preferred solution of the utility model, a vertically upward pressing cylinder is provided at a position located at the panel removal station on a side away from each other of the fixed rail and the movable rail, and a carrier pressing plate is provided at the telescopic end of the pressing cylinder;

[0018] When the pressing cylinder retracts the carrier pressing plate, the carrier pressing plate presses the carrier on the panel removal station;

[0019] When the pressing cylinder extends out of the carrier pressing plate, the carrier pressing plate releases the pressing of the carrier on the panel removal station.

[0020] As a preferred solution of the utility model, the carrier feed-in and feed-out conveying track is arranged along the Y-axis direction, the board output transplanting mechanism is arranged along the X-axis direction, and one end of the board output transplanting mechanism is close to the carrier feed-in and feed-out conveying track, and the PCB board transplanting robot is arranged above the carrier feed-in and feed-out conveying track and the board output transplanting mechanism.

[0021] As a preferred solution of the utility model, the PCB board transplanting robot includes a suction cup module for sucking the PCB board, a rotating module for driving the suction cup module to rotate, a Z-axis moving module for driving the suction cup module to move along the Z-axis, a Y-axis moving module for driving the suction cup module to move along the Y-axis, and a first X-axis moving module for driving the suction cup module to move along the X-axis, the suction cup module is arranged on the rotating end of the rotating module, the rotating module is arranged on the translation end of the Z-axis moving module, the Y-axis moving module is arranged on the translation end of the first X-axis moving module, and the first X-axis moving module is arranged on the frame.

[0022] As a preferred solution of the present utility model, the first X-axis moving module is fixed on the frame through a first supporting base.

[0023] As a preferred solution of the utility model, the board output and transplanting mechanism includes a lifting platform for placing the PCB board and a second X-axis moving module for driving the lifting platform to move along the X-axis, the lifting platform is arranged on the translation end of the second X-axis moving module, and the second X-axis moving module is fixed to the frame through a second support seat.

[0024] As a preferred embodiment of the present utility model, the lifting platform includes a lifting top plate, a lifting bottom plate, a scissors bracket and a lifting drive cylinder, the lifting top plate and the lifting bottom plate are connected through the scissors bracket, the scissors bracket includes a first support arm and a second support arm, the first support arm and the second support arm are cross-rotatingly connected, the upper end of the first support arm is rotatably connected to the lifting top plate, the lower end of the first support arm is slidably connected to the upper surface of the lifting bottom plate through a roller, the upper end of the second support arm is rotatably connected to the lifting top plate, the lower end of the second support arm is rotatably connected to the lifting bottom plate, the lifting drive cylinder is horizontally arranged on the upper surface of the lifting bottom plate, and the telescopic end of the lifting drive cylinder is connected to the lower end of the first support arm.

[0025] Compared with the prior art, the beneficial effects of the present invention are:

[0026] The docking transplanter provided by the utility model realizes automatic removal of PCB boards from the carrier before processing by the PCB board processing equipment through the carrier in-and-out material conveying track, the PCB board transplanting manipulator and the board out-and-out transplanting mechanism, and sends the PCB board to the board taking station of the PCB board processing equipment to replace the traditional manual operation, which greatly reduces the steps of manual operation and improves the production efficiency; since the manual operation is reduced, the errors caused by human factors (such as fatigue, negligence, etc.) are reduced, such as the wrong placement and missing of the PCB board, and the processing quality is improved; since the docking transplanter is designed to be used in docking with the PCB board processing equipment, it can be conveniently integrated into the existing production line without large-scale transformation of the production line. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 This is a schematic diagram of the structure of an embodiment of the utility model;

[0029] Figure 2 This is a schematic diagram of the structure of the carrier inlet and outlet conveyor track in one embodiment of the utility model;

[0030] Figure 3 This is a structural schematic diagram of a PCB board transplanting robot in one embodiment of the utility model;

[0031] Figure 4 This is a structural schematic diagram of a plate discharging and transplanting mechanism in one embodiment of the utility model;

[0032] Figure 5 It is a structural schematic diagram of the lifting platform of the plate discharging and transplanting mechanism in one embodiment of the utility model.

[0033] In the figure,

[0034] 1. Frame; 2. Carrier inlet and outlet conveyor track; 21. Fixed rail; 211. Conveyor belt; 212. Transmission assembly; 213. Belt drive motor; 22. Movable rail; 23. Blocking cylinder; 231. Carrier baffle; 24. Pressing cylinder; 241. Carrier pressure plate; 3. PCB board transplanting robot; 31. Suction cup module; 32. Rotating module; 33. Z-axis moving module; 34. Y-axis moving module; 35. First X-axis moving module; 36. First support seat; 4. Board out-and-out transplanting mechanism; 41. Lifting platform; 411. Lifting top plate; 412. Lifting bottom plate; 413. Scissor bracket; 4131. First support arm; 4132. Second support arm; 4133. Roller; 414. Lifting drive cylinder; 42. Second X-axis moving module; 43. Second support seat. DETAILED DESCRIPTION

[0035] In order to make the technical problems, technical solutions and beneficial effects to be solved by the utility model more clearly understood, the utility model is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be noted that similar numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings. At the same time, it is stated that the embodiments described below are only used to explain the utility model and are not used to limit the utility model.

[0036] It should be noted that the terms "install", "set", "connect", "fix" and the like should be understood in a broad sense. For example, they can be fixedly connected, detachably connected, or integrated; they can be mechanically connected or electrically connected; they can be directly connected or indirectly connected through an intermediate medium; they can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. The indicated orientation or position relationship is based on the orientation or position relationship shown in the accompanying drawings, or the orientation or position relationship in which the application product is usually placed when in use, or the orientation or position relationship commonly understood by those skilled in the art, or the orientation or position relationship in which the application product is usually placed when in use. It is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. The terms "first" and "second" are only used for the purpose of convenience of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features.

[0037] See also Figure 1 The present embodiment provides a docking transplanter, which is docked with a PCB board processing device and used to automatically remove the PCB board from a carrier before the PCB board processing device is processed, and send it to a board removal station of the PCB board processing device to replace traditional manual operation.

[0038] The docking transplanter includes a frame 1, a carrier in-and-out conveying track 2, a PCB board transplanting manipulator 3 and a board-out transplanting mechanism 4 installed on the frame 1. The frame 1 is provided with a board removal station, a transfer station and a board-out station, the board-out station is a board-taking station of the PCB board processing equipment, the carrier in-and-out conveying track 2 is arranged along the Y-axis direction, the board-out transplanting mechanism 4 is arranged along the X-axis direction, and one end of the board-out transplanting mechanism 4 is close to the carrier in-and-out conveying track 2, and the PCB board transplanting manipulator 3 is arranged above between the carrier in-and-out conveying track 2 and the board-out transplanting mechanism 4. The carrier in-and-out material conveying track 2 is used to receive the carrier carrying the PCB board and transport the carrier to the board removal station, and output the carrier with the PCB board taken out to the carrier recovery equipment; the PCB board transfer robot 3 is used to absorb the PCB board on the carrier located at the board removal station to the transfer station; the board out-board transfer mechanism 4 is used to receive the PCB board located at the transfer station and transport the PCB board to the board out-board station, so as to wait for the material taking mechanism of the PCB board processing equipment to take out the PCB board on the board out-board station for processing.

[0039] The above-mentioned docking and transplanting machine realizes automatic removal of the PCB board from the carrier before processing by the PCB board processing equipment through the carrier in-and-out material conveying track 2, the PCB board transplanting robot 3 and the board out-and-out transplanting mechanism 4, and sends the PCB board to the board removal station of the PCB board processing equipment to replace the traditional manual operation, which greatly reduces the steps of manual operation and improves production efficiency; since the manual operation is reduced, the errors caused by human factors (such as fatigue, negligence, etc.), such as misplacement and omission of PCB boards, are reduced, and the processing quality is improved; since the docking and transplanting machine is designed to be docked with the PCB board processing equipment, it can be easily integrated into the existing production line without the need for large-scale transformation of the production line.

[0040] See also Figure 2 In one embodiment, the carrier inlet and outlet conveying track 2 includes a fixed rail 21 and a movable rail 22 arranged relatively to each other, and the movable rail 22 can be close to or away from the fixed rail 21. The carrier inlet and outlet conveying track 2 can adjust the spacing between the fixed rail 21 and the movable rail 22 according to the size of the carrier through the fixed rail 21 and the movable rail 22 arranged as above, so that the device can be suitable for carriers of different widths. This adjustable spacing design greatly improves the compatibility and flexibility of the device, allowing one device to handle carriers of various specifications, reducing production costs and the complexity of equipment maintenance.

[0041] See also Figure 2In one embodiment, a conveyor belt 211 is provided on the opposite side of the fixed rail 21 and the movable rail 22. The conveyor belt 211 is connected to the belt drive motor 213 through the transmission assembly 212. After the belt drive motor 213 is started, the conveyor belt 211 on the fixed rail 21 and the movable rail 22 is driven to rotate smoothly and continuously through the transmission assembly 212, thereby realizing efficient conveying of the carrier through the conveyor belt 211, thereby improving the working efficiency of the equipment. The utility model adopts the conveyor belt 211 as the conveying component because its maintenance and replacement are relatively simple and convenient; when the conveyor belt 211 is worn or fails, the operator can quickly replace or repair it, thereby ensuring the normal operation of the equipment.

[0042] See also Figure 2 In one embodiment, a vertically upward blocking cylinder 23 is provided at the lower end of the opposite side of the fixed rail 21 and the movable rail 22 and at the end position of the board removal station, and a carrier baffle 231 is provided at the telescopic end of the blocking cylinder 23. When the blocking cylinder 23 extends out of the carrier baffle 231, the top of the carrier baffle 231 is higher than the upper surface of the conveyor belt 211 to block the carrier, so that the carrier carrying the PCB board can be accurately positioned on the board removal station, which provides convenience for the subsequent board removal operation of the PCB board transplanting manipulator 3. When the blocking cylinder 23 retracts the carrier baffle 231, the top of the carrier baffle 231 is lower than the upper surface of the conveyor belt 211 to release the blocking of the carrier, so that the carrier in-and-out material conveying track 2 can smoothly output the carrier that has taken out the PCB board to the carrier recovery device. By setting the blocking cylinder 23, it is possible to prevent the carrier from being damaged to the transplanter due to over-position or misalignment during the transportation process, thereby protecting the normal operation and service life of the equipment. In addition, due to the precise blocking and rapid response of the blocking cylinder 23, the accurate positioning and rapid release of the carrier at the panel removal station can be ensured, thereby improving the operating efficiency and production efficiency of the entire equipment.

[0043] See also Figure 2 In one embodiment, a vertically upward clamping cylinder 24 is provided on the side where the fixed rail 21 and the movable rail 22 are away from each other and located at the panel removal station, and a carrier pressing plate 241 is provided at the telescopic end of the clamping cylinder 24; when the clamping cylinder 24 retracts the carrier pressing plate 241, the carrier pressing plate 241 presses the carrier on the panel removal station, so that the PCB board transplanting robot 3 can smoothly remove the PCB board on the carrier at the panel removal station, and ensure that the position of the carrier will not shift, reducing the possibility of panel removal failure or repeated operation due to unstable carrier, and improving the panel removal efficiency of the entire transplanter; when the PCB board on the carrier is removed, the clamping cylinder 24 extends out of the carrier pressing plate 241, and the carrier pressing plate 241 releases the pressure on the carrier on the panel removal station.

[0044] See also Figure 3In one embodiment, the PCB board transplanting robot 3 includes a suction cup module 31 for sucking the PCB board, a rotating module 32 for driving the suction cup module 31 to rotate, a Z-axis moving module 33 for driving the suction cup module 31 to move along the Z-axis, a Y-axis moving module 34 for driving the suction cup module 31 to move along the Y-axis, and a first X-axis moving module 35 for driving the suction cup module 31 to move along the X-axis. The suction cup module 31 is arranged on the rotating end of the rotating module 32, the rotating module 32 is arranged on the translation end of the Z-axis moving module 33, the Y-axis moving module 34 is arranged on the translation end of the first X-axis moving module 35, and the first X-axis moving module 35 is fixed to the frame 1 through a first supporting seat 36. The PCB board transfer robot 3 can achieve precise three-dimensional spatial positioning through the Z-axis moving module 33, the Y-axis moving module 34 and the first X-axis moving module 35, thereby ensuring that it can accurately move to the position of the PCB board on the carrier and suck it up; and the setting of the rotating module 32 enables the suction cup module 31 to rotate, so that the PCB board sucked by the suction cup module 31 can be rotated to a specific angle and placed on the board transfer mechanism 4.

[0045] See also Figure 4 In one embodiment, the board-out-transferring mechanism 4 includes a lifting platform 41 for placing the PCB board and a second X-axis moving module 42 for driving the lifting platform 41 to move along the X-axis. The lifting platform 41 is arranged on the translation end of the second X-axis moving module 42, and the second X-axis moving module 42 is fixed on the frame 1 through a second support seat 43. The lifting platform 41 of the board-out-transferring mechanism 4 is arranged so that the PCB board can be transferred on a stable and horizontal plane. In conjunction with the second X-axis moving module 42, the lifting platform 41 can move accurately and quickly along the X-axis direction to ensure that the PCB board is accurately placed on the board-out station, that is, the board-taking station of the PCB board processing equipment; the arrangement of the lifting platform 41 enables the board-out-transferring mechanism 4 to process PCB boards of different sizes. By adjusting the height and position of the lifting platform 41, it can adapt to PCB boards of different sizes and thicknesses, as well as PCB board processing equipment with different material taking heights, thereby increasing the versatility and flexibility of the equipment.

[0046] See also Figure 5Specifically, the lifting platform 41 includes a lifting top plate 411, a lifting bottom plate 412, a scissor bracket 413 and a lifting drive cylinder 414. The lifting top plate 411 and the lifting bottom plate 412 are connected by the scissor bracket 413. The scissor bracket 413 includes a first support arm 4131 and a second support arm 4132. The first support arm 4131 and the second support arm 4132 are cross-rotatably connected. The upper end of the first support arm 4131 is rotatably connected to the lifting top plate 411, and the lower end of the first support arm 4131 is slidably connected to the upper surface of the lifting bottom plate 412 through a roller 4133. The upper end of the second support arm 4132 is rotatably connected to the lifting top plate 411, and the lower end of the second support arm 4132 is rotatably connected to the lifting bottom plate 412. The lifting drive cylinder 414 is horizontally arranged on the upper surface of the lifting bottom plate 412, and the telescopic end of the lifting drive cylinder 414 is connected to the lower end of the first support arm 4131. When it is necessary to raise the height of the lifting top plate 411, the telescopic end of the lifting drive cylinder 414 drives the lower end of the first support arm 4131 close to the lower end of the second support arm 4132, and the lifting top plate 411 gradually rises as the first support arm 4131 and the second support arm 4132 are closed; when it is necessary to lower the height of the lifting top plate 411, the telescopic end of the lifting drive cylinder 414 drives the lower end of the first support arm 4131 away from the lower end of the second support arm 4132, and the lifting top plate 411 gradually lowers as the first support arm 4131 and the second support arm 4132 are separated. The above-mentioned lifting platform 41 adopts the setting of a scissor bracket 413, and the cross-rotation connection between the first support arm 4131 and the second support arm 4132 ensures the stability and balance of the platform during the lifting process, so that the lifting top plate 411 can remain horizontal during the lifting process, providing stable support for the PCB board; the lifting drive cylinder 414 serves as the power source of the lifting platform 41, and can realize rapid telescopic movement, and cooperate with the control system to achieve precise lifting height control, thereby ensuring that the PCB board can be accurately placed at the target position.

[0047] It should be understood that those skilled in the art can make improvements or changes based on the above description, and all these improvements and changes should fall within the scope of protection of the claims attached to the utility model.

[0048] The above is an exemplary description of the utility model patent in conjunction with the accompanying drawings. It is obvious that the implementation of the utility model patent is not limited to the above-mentioned method. As long as various improvements are made by adopting the method concept and technical solution of the utility model patent, or the concept and technical solution of the utility model patent are directly applied to other occasions without improvement, they are all within the protection scope of the utility model.

Claims

1. A docking transplanter, characterized in that: include: A frame, wherein a board removal station, a transfer station and a board output station are arranged on the frame; A carrier in-and-out conveyor track is installed on the frame, and is used to receive a carrier carrying a PCB board and transport the carrier to the board removal station, and output the carrier that has taken out the PCB board; A PCB board transfer robot, installed on the frame, used to suck the PCB board on the carrier located at the board removal station to the transfer station; The board-outgoing and transferring mechanism is installed on the frame and is used for receiving the PCB board located at the transfer station and conveying the PCB board to the board-outgoing station.

2. The docking transplanter according to claim 1, characterized in that: The carrier in-and-out material transfer track includes a fixed rail and a movable rail that are arranged relatively to each other, and the movable rail can be close to or away from the fixed rail.

3. The docking transplanter according to claim 2, characterized in that: A conveying belt is arranged on one side opposite to the fixed rail and the movable rail, and the conveying belt is connected to a belt driving motor through a transmission component.

4. The docking transplanter according to claim 3, characterized in that: A vertically upward blocking cylinder is provided at the lower end of the opposite side of the fixed rail and the movable rail and at the end position of the panel removal station, and a carrier baffle is provided at the telescopic end of the blocking cylinder; When the blocking cylinder extends out of the carrier baffle, the top of the carrier baffle is higher than the upper surface of the conveyor belt to block the carrier; When the blocking cylinder retracts the carrier baffle, the top of the carrier baffle is lower than the upper surface of the conveyor belt to release the blocking of the carrier.

5. The docking transplanter according to claim 2, characterized in that: A vertically upward pressing cylinder is provided at a position located at the panel removal station on a side away from the fixed rail and the movable rail, and a carrier pressing plate is provided at the telescopic end of the pressing cylinder; When the pressing cylinder retracts the carrier pressing plate, the carrier pressing plate presses the carrier on the panel removal station; When the pressing cylinder extends out of the carrier pressing plate, the carrier pressing plate releases the pressing of the carrier on the panel removal station.

6. The docking transplanter according to claim 1, characterized in that: The carrier in-and-out material conveying track is arranged along the Y-axis direction, the board-outlet transferring mechanism is arranged along the X-axis direction, and one end of the board-outlet transferring mechanism is close to the carrier in-and-out material conveying track, and the PCB board transferring robot is arranged above the carrier in-and-out material conveying track and the board-outlet transferring mechanism.

7. The docking transplanter according to claim 6, characterized in that: The PCB board transplanting robot includes a suction cup module for sucking the PCB board, a rotating module for driving the suction cup module to rotate, a Z-axis moving module for driving the suction cup module to move along the Z-axis, a Y-axis moving module for driving the suction cup module to move along the Y-axis, and a first X-axis moving module for driving the suction cup module to move along the X-axis. The suction cup module is arranged on the rotating end of the rotating module, the rotating module is arranged on the translation end of the Z-axis moving module, the Y-axis moving module is arranged on the translation end of the first X-axis moving module, and the first X-axis moving module is arranged on the frame.

8. The docking transplanter according to claim 7, characterized in that: The first X-axis moving module is fixed on the frame via a first supporting base.

9. The docking transplanter according to claim 6, characterized in that: The board-outlet transporting mechanism includes a lifting platform for placing the PCB board and a second X-axis moving module for driving the lifting platform to move along the X-axis. The lifting platform is arranged on the translation end of the second X-axis moving module, and the second X-axis moving module is fixed to the frame through a second supporting seat.

10. The docking transplanter according to claim 9, characterized in that: The lifting platform includes a lifting top plate, a lifting bottom plate, a scissors bracket and a lifting drive cylinder. The lifting top plate is connected to the lifting bottom plate through the scissors bracket. The scissors bracket includes a first support arm and a second support arm. The first support arm and the second support arm are cross-rotatingly connected. The upper end of the first support arm is rotatably connected to the lifting top plate, and the lower end of the first support arm is slidably connected to the upper surface of the lifting bottom plate through a roller. The upper end of the second support arm is rotatably connected to the lifting top plate, and the lower end of the second support arm is rotatably connected to the lifting bottom plate. The lifting drive cylinder is horizontally arranged on the upper surface of the lifting bottom plate, and the telescopic end of the lifting drive cylinder is connected to the lower end of the first support arm.

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