Automatic grabbing manipulator

Abstract

The utility model provides an automatic grabbing manipulator, and belongs to the field of material grabbing. The structure comprises a fixing frame, a puncturing assembly and a static electricity eliminating assembly. Wherein the puncturing assemblies are fixedly connected to the fixing frame and used for puncturing into materials and locking the materials in a staggered mode; the static eliminating assembly is arranged on the fixing frame, is adjacent to the puncturing assembly and is used for eliminating the static load on the surface of the material; each puncturing assembly is provided with a driving part, a moving part and puncturing needles, the driving parts can drive the moving parts to reciprocate along the inclined planes, the puncturing needles are arranged in the moving parts and extend to the outer ends, and the puncturing needles oppositely arranged on the same puncturing assembly are arranged in a crossed mode. According to the utility model, the pin can be effectively prevented from being blocked and incapable of acting due to deformation; and in addition, a static electricity eliminating assembly is additionally arranged, so that the static electricity effect between the materials in the grabbing process is eliminated, and the phenomenon that multiple materials adhere to each other when a single material is grabbed is effectively prevented.

Description

Technical Field

[0001] The utility model belongs to the field of material grabbing, and more specifically relates to an automatic grabbing manipulator. Background Art

[0002] Material grabbing equipment is a mechanical device used to grab, move and transport materials, and is usually used in industrial production lines, warehousing and logistics. Material grabbing equipment can be divided into many types according to different working principles and usage scenarios. Common types include robotic arms, clamps, suction cups, conveyor belts, pins, etc. Among them, materials can be divided into hard materials, flexible materials, and fluid materials according to their softness.

[0003] Hard materials usually refer to solid materials with a certain hardness and rigidity, such as metal, glass, plastic, etc. These materials usually require strong force and structural support when grasping and moving, and are suitable for handling with equipment such as clamps and robotic arms. Soft materials refer to solid materials that are relatively soft and easily deformed, such as cloth, foam, sponge, etc. These materials require more gentle and precise operations when grasping and moving, and are suitable for handling with equipment such as suction cups, soft clamps, and pins. Fluid materials refer to liquid or gas materials that can flow, such as water, air, oil, etc. These materials usually need to be transported and processed through pipes, pumps and other equipment, and the grasping and moving methods are relatively special. Among them, when grasping soft materials, most of them use double or multiple rows of pins to staggeredly penetrate into the soft materials, and lock the inside of the material through the staggered pins to prevent the material from falling off the pins during the grasping process.

[0004] In the process of grabbing soft materials with a pin in the prior art, the movement trajectory of the pin is from the inside to the outside of the pin seat. Therefore, when the pin is deformed due to external pressure, the pin will be stuck on the pin seat and cannot move. In addition, since there is electrostatic interaction between soft materials during the process of being grabbed, when grabbing a single material, multiple materials will often be stuck. When the material is transferred, due to the influence of gravity, during the static electricity decay process, the material stuck by static electricity will fall to any area at any time, affecting the grabbing efficiency. Utility Model Content

[0005] The main purpose of the present application is to provide an automatic grasping robot, which utilizes a cylinder to drive a pin holder, thereby driving the pin to reciprocate, effectively preventing the pin from being stuck and unable to move due to deformation; in addition, an electrostatic elimination component is added to eliminate the electrostatic effect between materials during the grasping process, effectively preventing the phenomenon of multiple materials sticking to each other when grasping a single material.

[0006] In order to achieve the above objectives, the present application proposes an automatic grasping manipulator, comprising:

[0007] Fixed frame;

[0008] Several piercing components are fixedly connected to the fixed frame and used to penetrate into the material and lock the material in an interlaced manner;

[0009] The static electricity elimination component is arranged on the fixed frame and adjacent to the puncture component, and is used to eliminate the static electricity load on the surface of the material;

[0010] The puncture assembly is provided with a driving member, a moving member, and a puncture needle. The driving member can drive the moving member to reciprocate along the inclined surface. The puncture needle is placed in the moving member and extends to the outer end. The puncture needles arranged opposite to each other on the same puncture assembly are arranged crosswise.

[0011] Furthermore, the puncture assembly comprises: a suspension mechanism hung on a fixing frame, the driving member is fixedly connected to an end of the suspension mechanism away from the fixing frame, and is symmetrically arranged in a "V"-shaped structure;

[0012] The plane where the driving member is located is parallel to the plane where the moving member is located, and the driving member drives the moving member to reciprocate along the direction in which the needle extends into or out of the material;

[0013] The needle can be inserted into the end of the hanging mechanism and extend into the interior of the material.

[0014] The suspension mechanism can support the other components of the puncture assembly and adjust the height of the driving member, the moving member and the needle at any time. The driving member is symmetrically arranged in a "V" shape, so that the driving members on both sides form two intersecting planes, thereby ensuring that the planes where the needles on both sides are located can also intersect with each other, ensuring that the needles are arranged crosswise and do not interfere with each other.

[0015] Furthermore, the movable member is provided with a limiting hole, the driving member is provided with a supporting rod, and the supporting rod is placed in the limiting hole and extends or contracts along the axial direction;

[0016] The driving member is provided with a telescopic rod, the telescopic rod is arranged parallel to the supporting rod, and the telescopic rod is fixed on the moving member.

[0017] The driving member drives the telescopic rod to reciprocate along the axial direction, thereby driving the moving member to reciprocate. Since the needle is fixed on the moving member, the needle moves back and forth with the moving member.

[0018] The support rod is mainly used to hang the moving part and unload the force of the moving part in the gravity direction, and the limiting hole does not hinder the support rod from reciprocating along the axial direction of the limiting hole.

[0019] Furthermore, the suspension mechanism comprises:

[0020] A fixing seat, mounted on the fixing frame;

[0021] A height adjustment component is disposed on the fixing base and extends to a direction perpendicular to the fixing base;

[0022] The special-shaped table is arranged at one end of the height adjustment component away from the fixed seat, and has support inclined surfaces at both ends, and the driving member is fixed on the support inclined surfaces;

[0023] The special-shaped platform is provided with a plurality of through passages for passing the needles, and the through passages are cross-arranged.

[0024] The height adjustment component is mainly used to adjust the height of the special-shaped table. When the plane where the material is located is too low, the height of the special-shaped table can be appropriately adjusted so that the needle can just penetrate one of the materials.

[0025] Furthermore, the height adjustment component comprises:

[0026] A rotary rod, one end of which is passed through the fixed seat, and the other end is fixedly connected to the special-shaped table, and a thread is provided on the end of the rotary stem facing the fixed seat;

[0027] A compression spring is wound around the rotating rod;

[0028] The adjusting nuts are respectively arranged at two ends of the fixing seat and are threadedly connected with the rotating rod.

[0029] The height of the rotating rod can be adjusted by tightening or loosening the adjusting nut, thereby adjusting the overall height of the special-shaped table. The compression spring is characterized by a certain elasticity and deformation ability, which can adjust the height within a certain range and provide stable support force, ensuring that the manipulator can work normally in operating environments at different heights.

[0030] Furthermore, the fixing frame is provided with a fixing groove, the fixing seat is provided with a fixing hole at a position corresponding to the fixing groove, and the fixing piece is inserted into the fixing hole and abuts against the fixing groove to fix the fixing seat.

[0031] The fixing base can be fixed by inserting bolts or screws into the fixing holes, and the bolts as fasteners also facilitate subsequent disassembly.

[0032] Furthermore, the fixing frame is provided with a width adjustment component, and the fixing seat is fixed on the width adjustment component to adjust the distance between the fixing seat and the fixing frame.

[0033] When the width of the entire working plane cannot be guaranteed, the width adjustment component can be used to adjust the distance between the fixed seats at both ends of the manipulator to widen the overall working plane and ensure that the working plane can accommodate wider materials.

[0034] Furthermore, the width adjustment component comprises:

[0035] A slide rail is arranged on a fixed frame;

[0036] A sliding frame is placed on the slide rail and can slide along the extension direction of the slide rail, and the fixed seat is arranged on the sliding frame;

[0037] The telescopic cylinder is fixed on the fixed frame, and one end of the telescopic cylinder extending or contracting outward is fixedly connected to the sliding frame.

[0038] The technical solution provides a thought process, that is, utilizing a telescopic cylinder to drive the sliding frame to slide out along the slide rail, thereby expanding the distance between the fixed seats on both sides of the manipulator.

[0039] Furthermore, the static elimination component comprises:

[0040] A suspension frame, which is suspended from one end of the fixing frame toward the puncture assembly;

[0041] The ion air duct is fixed on the suspension frame. The ion air duct is connected to an ion generator. When the ion generator is started, the ion air duct will absorb the static electricity load between the materials.

[0042] This technical solution starts the ion generator, and the ion air duct generates an ion flow that blows toward the surface of the material, thereby eliminating the static load of the material, preventing the material from sticking or dislocating, and improving the accuracy and stability of the automatic grasping manipulator.

[0043] The automatic grabbing manipulator proposed in the utility model has the following beneficial effects:

[0044] (1) The utility model utilizes a cylinder (driving part) to drive the pin holder (moving part), thereby driving the pin to reciprocate, effectively preventing the pin from being stuck and unable to move due to deformation; in addition, an electrostatic elimination component is added to eliminate the static electricity between materials during the grasping process, effectively preventing the phenomenon of multiple materials sticking to each other when grasping a single material.

[0045] (2) The suspension mechanism of the utility model can support the other components of the puncture assembly on the one hand, and can adjust the height of the driving member, the moving member and the needle at any time on the other hand. The driving member is symmetrically arranged in a "V"-shaped structure, so that the driving members on both sides form two intersecting planes, thereby ensuring that the planes where the needles on both sides are located can also intersect with each other, ensuring that the needles are arranged crosswise and do not interfere with each other.

[0046] (3) The utility model is provided with a width adjustment component on the fixed frame. When the width of the entire working plane cannot be guaranteed, the width adjustment component can be used to adjust the distance between the fixed seats at both ends of the manipulator to widen the overall working plane and ensure that the working plane can accommodate wider materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1This is a structural schematic diagram of an automatic grabbing manipulator of the utility model;

[0048] Figure 2 This is a front structural schematic diagram of an automatic grabbing manipulator of the utility model;

[0049] Figure 3 For this utility model Figure 2 A schematic diagram of a local structure in FIG.

[0050] Figure 4 For this utility model Figure 2 Another partial structural diagram in FIG.

[0051] Figure 5 The utility model is a schematic structural diagram of an automatic grasping manipulator according to one embodiment of the present invention.

[0052] In the figure, 1. fixed frame, 2. driving part, 3. moving part, 4. needle, 5. support rod, 6. telescopic rod, 7. fixed seat, 8. rotating rod, 9. compression spring, 10. adjusting nut, 11. special-shaped table, 12. fixing groove, 13. static elimination component, 131. suspension, 132. ion air duct, 133. vent, 14. slide rail, 15. sliding frame, 16. telescopic cylinder. DETAILED DESCRIPTION

[0053] The embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

[0054] The following describes the embodiments of the present disclosure through specific examples, and those skilled in the art can easily understand other advantages and effects of the present disclosure from the contents disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all of the embodiments. The present disclosure can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present disclosure. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present disclosure.

[0055] In the description of the present invention, it should be understood that the terms "middle", "length", "up", "down", "front", "back", "vertical", "horizontal", "inside", "outside", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do 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 should not be understood as a limitation on the present invention.

[0056] In the present invention, unless otherwise clearly specified and limited, the first feature "on" the second feature may be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. "Multiple" means at least two, such as two, three, etc., unless otherwise clearly and specifically limited.

[0057] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0058] Example

[0059] There are two main problems in the prior art when using a pin to grab soft materials. First, because the movement trajectory of the pin is from the inside to the outside of the pin seat, when the pin is deformed by external pressure, the pin will be stuck on the pin seat and cannot move. Secondly, there is static electricity in the process of grabbing soft materials, which often causes multiple materials to stick together when grabbing a single material. During the material transfer process, due to the influence of gravity, the material stuck by static electricity may fall to any area at any time, affecting the grabbing efficiency.

[0060] Based on this, in order to solve the above technical problems, this embodiment proposes an automatic grasping manipulator, please refer to Figure 1 , including: a fixed frame 1 fixedly connected to the robot arm through flanges, rigid connectors, etc., and a plurality of piercing components for piercing into the material and interlacedly locking the material are hung in pairs at the edges of the fixed frame 1. A plurality of static elimination components 13 are hung at positions adjacent to the piercing components on the fixed frame 1, which are mainly used to eliminate the static load on the surface of the material, and when a single piece of material is grabbed, prevent the remaining materials from sticking together.

[0061] More specifically, refer to Figure 3The puncture assembly includes: a suspension mechanism that is evenly hung along the length and width of the edge of the fixed frame 1, and one end of the suspension mechanism is directly fixed to the fixed frame 1 in a detachable manner through a nut or other fixing member. A driving member 2 is fixedly installed obliquely on both sides of the end of the suspension mechanism (the position is the end opposite to the fixed frame 1), and the driving members 2 on both sides present a "V"-shaped structure. A moving member 3 is movably connected to a position parallel to the plane where the driving member 2 is located below the driving member 2, and a gap-arranged thorn needle 4 is installed inside the moving member 3, and the thorn needle 4 extends to the outer end of the moving member 3. Among them, since the plane where the thorn needle 4 is located is an inclined surface, the thorn needles 4 on the left and right sides are staggered. When the puncture assembly approaches the material, the thorn needles 4 on the left and right sides have not yet staggered. When the thorn needle 4 contacts the surface of the material, the driving member 2 generates a driving force to drive the moving members 3 to move closer to each other, causing the thorn needle 4 to pierce the inside of the material and cross each other. The cross structure prevents the material from falling off the puncture assembly.

[0062] In this embodiment, the driving member 2 drives the moving member 3, thereby driving the two side needles 4 located on the same puncture component to move toward each other until they penetrate into the material, forming a cross arrangement of the needles 4. Since the material is a soft structure, when the material is lifted, the cross arrangement of the needles 4 inside the material can lock the material, ensuring that the material will not fall off during the lifting and grabbing process.

[0063] It should be noted that, in this embodiment, the driving member 2 may be a cylinder structure such as a pneumatic cylinder, a hydraulic cylinder, an electric cylinder, etc., and the moving member 3 may be a puncture needle holder.

[0064] In one embodiment, a limiting hole is provided on the moving member 3, and a support rod 5 is fixedly connected to the driving member 2. The support rod 5 passes through the limiting hole and extends to the outer end of the limiting hole, and can support the moving member 3. A telescopic rod 6 is provided on the driving member 2 at a position parallel to the support rod 5. The telescopic rod 6 extends to the inside of the driving member 2 and can be extended or retracted under the push or stretch of the driving member 2. The telescopic rod 6 is directly fixed to the moving member 3. The moving member 3 can reciprocate on the inclined surface under the drive of the telescopic rod 6. Because the driving member 2 needs to be fixed, the driving member 2 is directly fixed on the inclined surface at the end of the suspension mechanism.

[0065] In this embodiment, the suspension mechanism includes: a fixed seat 7, a height adjustment component and a special-shaped platform 11. The fixed seat 7 is directly hung on the edge of the fixed frame 1 by bolts or other detachable connecting parts, and the length direction of the two sides is arranged at equal intervals, and the width direction of the two sides is arranged at equal intervals. The height adjustment component is installed on the hanging ear of the fixed seat 7 along the vertical direction of the fixed seat 7, and the special-shaped platform 11 is directly fixedly installed at the tail of the height adjustment component, and the two sides of the special-shaped platform 11 are provided with inclined surfaces, and the driving members 2 on both sides are respectively fixedly installed on the inclined surfaces.

[0066] It should be noted that the height adjustment component is used to adjust the distance between the special-shaped platform 11 and the fixed seat 7, so that the manipulator can adjust the distance between the needle 4 and the material at any time when grabbing the material.

[0067] In one of the embodiments, the height adjustment component includes: a rotating rod 8, a compression spring 9, and an adjusting nut 10. The rotating rod 8 passes through the lifting ear of the fixed seat 7, and vertically extends to the special-shaped platform 11 along the direction of gravity, and is fixedly connected to the special-shaped platform 11 by a nut. The compression spring 9 is wound around the rotating rod 8, and a thread is provided at one end of the rotating rod 8 close to the fixed seat 7. Adjusting nuts 10 are provided on both sides of the lifting ear of the fixed seat 7, and the adjusting nuts 10 are threadedly connected to the rotating rod 8. The height of the rotating rod 8 is adjusted by tightening or loosening the adjusting nut 10, thereby adjusting the overall height of the special-shaped platform 11. The compression spring 9 is characterized in that it has a certain elasticity and deformation ability, can adjust the height within a certain range and provide a stable supporting force, so as to ensure that the manipulator can work normally in operating environments at different heights.

[0068] In one embodiment, reference Figure 1 and Figure 5 The static elimination component 13 can be an ion wind component hung on the fixed frame 1. More specifically, the static elimination component 13 includes: a suspension 131 suspended on the fixed frame 1 by bolts or detachable fasteners, an ion wind duct 132 is fixedly installed on the suspension 131, one end of the ion wind duct 132 is directly connected to the ion generator, and a plurality of vents 133 are arranged on the side of the ion wind duct 132 facing the material. The technical solution starts the ion generator, and the ion wind duct 132 generates an ion flow, which blows toward the surface of the material, so that the static load of the material is eliminated, the material is prevented from sticking or dislocation, and the accuracy and stability of the automatic grasping manipulator are improved.

[0069] In some embodiments, for ease of installation, refer to Figure 4 A fixing groove 12 is installed on the edge of the fixing frame 1, and a fixing hole is provided on the fixing seat 7 at a position corresponding to the fixing groove 12. Bolts or other fixing members are inserted into the fixing holes and abut against the fixing groove 12 to fix the fixing seat 7.

[0070] In some embodiments, when a wider material needs to be grasped, the size of the grasping manipulator may be narrower than the width of the material. Therefore, in order to avoid the above problem, a width adjustment component is installed symmetrically in the width direction of the fixing frame 1 to adjust the distance between the fixing seat 7 and the fixing frame 1.

[0071] In the above embodiments, reference Figure 2 and Figure 4The width adjustment component can be: a slide rail 14 is set up along the width direction of the fixed frame 1, a sliding frame 15 is slidably connected to the slide rail 14, and one end of the sliding frame 15 is fixedly connected to a telescopic cylinder 16, and the other end is connected to the fixed seat 7, wherein the telescopic cylinder 16 is fixed on the fixed frame 1. The distance between the fixed seat 7 and the fixed frame 1 is adjusted by extending or contracting the connecting rod of the telescopic cylinder 16.

[0072] It should be noted that the technical problem to be solved by this embodiment is how to ensure that the needle 4 will not get stuck on the needle holder when it is deformed and cannot achieve the telescopic function of the needle 4. To this end, this embodiment changes the driving mode, and changes the existing telescopic action of driving the needle 4 to driving the needle holder to telescopic action, thereby ensuring that even if part of the needle 4 is deformed, it will not interfere with the telescopic action of the needle holder, that is, even if part of the needle 4 is deformed, it can still ensure the grabbing of materials.

[0073] In addition, this embodiment solves the problem in the prior art that static electricity exists between materials, and multiple materials may be grabbed during the grabbing process, or multiple materials may stick together due to static electricity and fall during the static electricity decay process. That is, this embodiment eliminates the static electricity between materials by introducing a static electricity elimination component 13.

[0074] It should be noted that the materials grasped by the robot arm mentioned in this application refer to soft materials.

[0075] For this reason, the name of the utility model of the present application can also be a soft material grabbing manipulator, in which the driving member 2 can realize the grabbing process through a simple series-parallel circuit, so the grabbing manipulator of the present application can also realize that the driving member 2 drives the moving member 3 to move without an assembly program, and the moving member 3 drives the needles 4 to move toward each other until they penetrate the material and form a cross needle group, and the cross needle groups at multiple positions cooperate with each other to lock the material at multiple angles. When the manipulator needs to unload the material, the driving member 2 drives the moving member 3 to move in the opposite direction.

[0076] The above is only for explaining the implementation mode of the utility model and is not used to limit the utility model. For those skilled in the art, any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the utility model without creative work should be included in the protection scope of the utility model.

Claims

1. An automatic grasping manipulator, characterized in that: include: Fixed frame; Several piercing components are fixedly connected to the fixed frame and used to penetrate into the material and lock the material in an interlaced manner; The static electricity elimination component is arranged on the fixed frame and adjacent to the puncture component, and is used to eliminate the static electricity load on the surface of the material; The puncture assembly is provided with a driving member, a moving member, and a puncture needle. The driving member can drive the moving member to reciprocate along the inclined surface. The puncture needle is placed in the moving member and extends to the outer end. The puncture needles arranged opposite to each other on the same puncture assembly are arranged crosswise.

2. The automatic grasping manipulator according to claim 1, characterized in that: The puncture assembly comprises: a suspension mechanism hung on a fixing frame, the driving member is fixedly connected to an end of the suspension mechanism away from the fixing frame, and is symmetrically arranged in a "V" shape; The plane where the driving member is located is parallel to the plane where the moving member is located, and the driving member drives the moving member to reciprocate along the direction in which the needle extends into or out of the material; The needle can be inserted into the end of the hanging mechanism and extend into the interior of the material.

3. The automatic grasping manipulator according to claim 2, characterized in that: The movable member is provided with a limiting hole, and the driving member is provided with a supporting rod, and the supporting rod is placed in the limiting hole and extends or contracts along the axial direction; The driving member is provided with a telescopic rod, the telescopic rod is arranged parallel to the supporting rod, and the telescopic rod is fixed on the moving member.

4. The automatic grasping manipulator according to claim 2, characterized in that: The suspension mechanism comprises: A fixing seat, mounted on the fixing frame; A height adjustment component is disposed on the fixing base and extends to a direction perpendicular to the fixing base; The special-shaped table is arranged at one end of the height adjustment component away from the fixed seat, and has support inclined surfaces at both ends, and the driving member is fixed on the support inclined surfaces; The special-shaped platform is provided with a plurality of through passages for passing the needles, and the through passages are cross-arranged.

5. The automatic grasping manipulator according to claim 4, characterized in that: The height adjustment component comprises: A rotary rod, one end of which is passed through the fixed seat, and the other end is fixedly connected to the special-shaped table, and a thread is provided on the end of the rotary stem facing the fixed seat; A compression spring is wound around the rotating rod; The adjusting nuts are respectively arranged at two ends of the fixing seat and are threadedly connected with the rotating rod.

6. The automatic grasping manipulator according to claim 4, characterized in that: The fixing frame is provided with a fixing groove, and the fixing seat is provided with a fixing hole at a position corresponding to the fixing groove. The fixing piece is inserted into the fixing hole and abuts against the fixing groove to fix the fixing seat.

7. The automatic grasping manipulator according to claim 4, characterized in that: The fixing frame is provided with a width adjustment component, and the fixing seat is fixed on the width adjustment component to adjust the distance between the fixing seat and the fixing frame.

8. The automatic grasping manipulator according to claim 7, characterized in that: The width adjustment assembly comprises: A slide rail is arranged on a fixed frame; A sliding frame is placed on the slide rail and can slide along the extension direction of the slide rail, and the fixed seat is arranged on the sliding frame; The telescopic cylinder is fixed on the fixed frame, and one end of the telescopic cylinder extending or contracting outward is fixedly connected to the sliding frame.

9. The automatic grasping manipulator according to claim 1, characterized in that: The static elimination component comprises: A suspension frame, which is suspended from one end of the fixing frame toward the puncture assembly; The ion air duct is fixed on the suspension frame. The ion air duct is connected to an ion generator. When the ion generator is started, the ion air duct will absorb the static electricity load between the materials.

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