Annular assembly production line

Abstract

The utility model discloses an annular assembly production line which comprises a rack, an annular conveying mechanism is arranged on the surface of the rack, bearing jigs are evenly arranged on the surface of the annular conveying mechanism, and a first tray feeding machine and a second tray feeding machine are close to the two ends of the annular conveying mechanism in the length direction respectively. The ultrasonic cleaning machine is located on the side face of the annular conveying mechanism in the length direction. A first material transferring mechanism and a second material transferring mechanism are arranged on the two sides of the annular conveying mechanism in the length direction correspondingly, a feeding mechanism is arranged on the side face of the annular conveying mechanism in the width direction, and a laser welding assembly is arranged on the surface of the rack. The automatic welding device has the beneficial effects that automatic cleaning and feeding of a part A can be achieved, automatic feeding of a part B, automatic welding of the part A and the part B and automatic discharging of welded products can be achieved, the feeding, welding and discharging rhythm is stable and constant, the welding quality is high, and the efficiency is high.

Description

Technical Field

[0001] The utility model relates to the technical field of welding processing, in particular to a ring-shaped assembly production line. Background Art

[0002] In the process of processing metal parts, welding connections between parts are often required, such as Fig. 9 Part A and Fig.10 In order to ensure the welding quality, part A needs to be cleaned, and then part A and part B are welded together. At present, when welding part A and part B, part B needs to be manually loaded and fixed, which affects the welding efficiency and welding quality. Therefore, a circular assembly production line is designed, which can realize the automatic cleaning and loading of part A, the automatic loading of part B, the automatic welding of part A and part B, and the automatic unloading of the welded product. The circular conveying mechanism is used as the main transfer equipment, and the loading, welding and unloading rhythms are stable and constant, with a high overall degree of automation, which helps to ensure the welding quality and improve the welding efficiency. Utility Model Content

[0003] The purpose of the utility model is to provide a ring-shaped assembly production line in order to solve the above-mentioned problems, as described below.

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

[0005] The utility model provides a ring assembly production line, comprising a frame, an ultrasonic cleaning machine, a first tray feeder and a second tray feeder, wherein the surface of the frame is provided with a ring conveying mechanism, and the surface of the ring conveying mechanism is evenly provided with a bearing fixture, the first tray feeder and the second tray feeder are located on two sides in the width direction of the ring conveying mechanism and are respectively close to the two ends in the length direction of the ring conveying mechanism, and the ultrasonic cleaning machine is located on the side of the length direction of the ring conveying mechanism;

[0006] A first material transfer mechanism and a second material transfer mechanism are respectively arranged on both sides of the length direction of the annular conveying mechanism. The first material transfer mechanism corresponds to the first tray feeder and the ultrasonic cleaning machine, and is used to deliver part A on the first tray feeder to the ultrasonic cleaning machine, and deliver part A cleaned by the ultrasonic cleaning machine to the supporting fixture on the surface of the annular conveying mechanism; the second material transfer mechanism corresponds to the second tray feeder, and is used to deliver the welded product to the second tray feeder; a loading mechanism is arranged on the side of the width direction of the annular conveying mechanism, which is used to deliver part B to the supporting fixture on the annular conveying mechanism, and a laser welding assembly is arranged on the surface of the frame for welding part A and part B.

[0007] When the above-mentioned annular assembly production line is used for production, part B is transported to the carrying fixture on the annular conveying mechanism by the feeding mechanism, and part B is transported by the annular conveying mechanism; part A on the first tray feeder is transported to the conveyor belt of the ultrasonic cleaning machine by the first material transfer mechanism, and part A is cleaned by the ultrasonic cleaning machine; after the cleaning of part A is completed, part A cleaned by the ultrasonic cleaning machine is transported to the carrying fixture on the annular conveying mechanism by the first material transfer mechanism, so as to realize the assembly of part A and part B; the assembled parts A and B are transported to the laser welding assembly by the annular conveying mechanism, and the welding connection of part A and part B is realized by the laser welding assembly, the annular conveying mechanism transports the welded product to the second material transfer mechanism, and the second material transfer mechanism transfers the welded product to the second material transfer mechanism; automatic cleaning and feeding of part A, automatic feeding of part B, and assembly of part A can be realized. The automatic welding of part A and part B and the automatic unloading of the welded product use the ring conveyor mechanism as the main transfer equipment. The loading, welding and unloading rhythm is stable and constant, with a high overall degree of automation, which helps to ensure welding quality and improve welding efficiency.

[0008] Preferably, the first material transfer mechanism and the second material transfer mechanism have the same structure, the first material transfer mechanism includes a robot mechanism, a longitudinal linear module and a transverse linear module, the robot mechanism corresponds to the first tray feeder and the ultrasonic cleaning machine, and the working end of the robot mechanism is provided with a first grasping mechanism; the longitudinal linear module is located on the side in the width direction of the annular conveying mechanism, the moving end of the longitudinal linear module moves along the length direction of the annular conveying mechanism, and a positioning fixture is provided on the surface of the moving end of the longitudinal linear module; the transverse linear module is arranged inside the frame, the moving end of the transverse linear module moves along the width direction of the annular conveying mechanism, and the moving end of the transverse linear module is provided with a vertical linear module, the moving end of the vertical linear module is vertically lifted and lowered and is provided with a second grasping mechanism.

[0009] Preferably, the first grasping mechanism includes a connecting seat, which is connected to the working end of the robot, a first grasping cylinder is arranged on the side of the connecting seat, an output end of the first grasping cylinder is vertically downward and connected to a lifting plate, and a first electromagnet is arranged at the bottom end of the lifting plate.

[0010] Preferably, the second grabbing mechanism includes a second grabbing cylinder, which is arranged at the moving end of the vertical linear module, and the output end of the second grabbing cylinder is vertically downward and connected to a lifting block, a supporting plate is arranged at the bottom of the lifting block, and the supporting plate extends horizontally in a direction away from the vertical linear module, and a second electromagnet is arranged at the end of the supporting plate.

[0011] Preferably, the loading mechanism includes a flexible feeding module, a spider manipulator and a visual component, the flexible feeding module is located on one side in the width direction of the annular conveying mechanism, the discharge end of the flexible feeding module is close to the annular conveying mechanism, the spider manipulator is located on the inner top of the frame surface protective cover, and the spider manipulator is located above the annular conveying mechanism, and is used to deliver part B at the discharge end of the flexible feeding module to the carrying fixture on the annular conveying mechanism, and the visual component is located above the discharge end of the flexible feeding module.

[0012] Preferably, the flexible feeding modules and spider manipulators are provided in two groups and are distributed along the length direction of the annular conveying mechanism.

[0013] Preferably, the visual component comprises a camera and a light source, wherein the light source is an annular light source and is circumferentially distributed outside the camera lens end.

[0014] Preferably, the laser welding assembly includes a lifting linear module and a clamping assembly. The lifting linear module is located on the outside in the width direction of the annular conveying mechanism. A carrying frame is provided at the lifting end of the lifting linear module. The carrying frame extends horizontally to the top of the annular conveying mechanism, and a laser welding machine is provided on the surface of the carrying frame. The laser welding machine is located above the carrying fixture. The clamping assembly is located on one side in the width direction of the annular conveying mechanism, and is used to press down part B and part A so that part B and part A can be accurately and stably combined.

[0015] Preferably, the clamping assembly includes a clamping bracket, which is provided in two groups and is located on both sides of the supporting fixture. A clamping cylinder is provided on the side of the clamping bracket, the output end of the clamping cylinder is vertically upward, and a clamping fixture is connected between the output ends of the two clamping cylinders.

[0016] The beneficial effects are: it can realize automatic cleaning and loading of part A, automatic loading of part B, automatic welding of part A and part B, and automatic unloading of the welded product. The ring conveying mechanism is used as the main transfer equipment. The loading, welding and unloading rhythm is stable and constant, and the overall degree of automation is high, which helps to ensure the welding quality and improve the welding efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, 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 utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is a three-dimensional structural schematic diagram of the utility model;

[0019] Figure 2 It is a schematic diagram of the structure inside the frame of the utility model;

[0020] Figure 3 is a schematic diagram of the structure of the robot mechanism in the first material transfer mechanism;

[0021] Figure 4 is a structural schematic diagram of part of the structure of the first material transfer mechanism;

[0022] Figure 5 is a structural schematic diagram of a first grasping mechanism;

[0023] Figure 6 is a structural schematic diagram of the second grasping mechanism;

[0024] Figure 7 It is a structural diagram of the feeding mechanism;

[0025] Figure 8 It is a schematic diagram of the structure of the laser welding assembly;

[0026] Fig. 9 It is a structural diagram of part A;

[0027] Fig.10 It is a structural diagram of part B.

[0028] The following are the descriptions of the reference numerals:

[0029] 1. Frame; 2. First material transfer mechanism; 201. Robot mechanism; 202. First gripping mechanism; 2021. Connecting seat; 2022. First gripping cylinder; 2023. Lifting plate; 2024. First electromagnet; 203. Longitudinal linear module; 204. Positioning fixture; 205. Second gripping mechanism; 2051. Second gripping cylinder; 2052. Lifting block; 2053. Loading plate; 2054. Second electromagnet; 206. Vertical linear module; 207. Horizontal linear module; 3. Ultrasonic cleaning Machine; 4. First tray feeder; 5. Loading mechanism; 501. Flexible feeding module; 502. Spider manipulator; 503. Visual component; 5031. Camera; 5032. Light source; 6. Second material transfer mechanism; 7. Second tray feeder; 8. Ring conveying mechanism; 9. Laser welding component; 901. Lifting linear module; 902. Carrying frame; 903. Laser welding machine; 904. Clamping component; 9041. Clamping bracket; 9042. Clamping cylinder; 9043. Clamping fixture; 10. Carrying fixture. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and advantages of the utility model clearer, the technical solution of the utility model will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other implementation methods obtained by ordinary technicians in this field without creative work belong to the scope of protection of the utility model.

[0031] See also Figure 1-Figure 8 As shown, the utility model provides a ring assembly production line, including a frame 1, an ultrasonic cleaning machine 3, a first tray feeder 4 and a second tray feeder 7, a ring conveying mechanism 8 is arranged on the surface of the frame 1, and a bearing fixture 10 is evenly arranged on the surface of the ring conveying mechanism 8, the first tray feeder 4 and the second tray feeder 7 are located on two sides in the width direction of the ring conveying mechanism 8 and are respectively close to the two ends in the length direction of the ring conveying mechanism 8, and the ultrasonic cleaning machine 3 is located on the side of the ring conveying mechanism 8 in the length direction;

[0032] A first material transfer mechanism 2 and a second material transfer mechanism 6 are respectively arranged on both sides of the length direction of the ring conveying mechanism 8. The first material transfer mechanism 2 corresponds to the first tray feeder 4 and the ultrasonic cleaning machine 3, and is used to deliver the part A on the first tray feeder 4 to the ultrasonic cleaning machine 3, and deliver the part A cleaned by the ultrasonic cleaning machine 3 to the supporting fixture 10 on the surface of the ring conveying mechanism 8; the second material transfer mechanism 6 corresponds to the second tray feeder 7, and is used to deliver the welded product to the second tray feeder 7; a loading mechanism 5 is arranged on the side of the width direction of the ring conveying mechanism 8, and is used to deliver the part B to the supporting fixture 10 on the ring conveying mechanism 8. A laser welding component 9 is arranged on the surface of the frame 1 for welding parts A and B.

[0033] As an optional embodiment, the first material transfer mechanism 2 and the second material transfer mechanism 6 have the same structure. The first material transfer mechanism 2 includes a robot mechanism 201, a longitudinal linear module 203 and a transverse linear module 207. The robot mechanism 201 corresponds to the first tray feeder 4 and the ultrasonic cleaning machine 3. The working end of the robot mechanism 201 is provided with a first grasping mechanism 202; the longitudinal linear module 203 is located on the side of the width direction of the annular conveying mechanism 8, and the moving end of the longitudinal linear module 203 moves along the length direction of the annular conveying mechanism 8, and a positioning fixture 204 is provided on the surface of the moving end of the longitudinal linear module 203; the transverse linear module 207 is arranged inside the frame 1, and the moving end of the transverse linear module 207 moves along the width direction of the annular conveying mechanism 8, and the moving end of the transverse linear module 207 is provided with a vertical linear module 206, and the moving end of the vertical linear module 206 It is vertically lifted and provided with a second grabbing mechanism 205. In this arrangement, the robot drives the first grabbing mechanism 202 to transfer the part A on the first tray feeder 4 to the conveyor belt of the ultrasonic cleaning machine 3 through the first grabbing mechanism 202. The ultrasonic cleaning machine 3 cleans the part A. After cleaning, the longitudinal linear module 203 drives the positioning fixture 204 to move toward the ultrasonic cleaning machine 3. The robot drives the first grabbing mechanism 202 to place the cleaned part A on the positioning fixture 204. The longitudinal linear module 203 drives the positioning fixture 204 to move below the second grabbing mechanism 205. The vertical linear module 206 drives the second grabbing mechanism 205 to descend, and the second grabbing mechanism 205 grabs the part A. The transverse linear module 207 works to move the second grabbing mechanism 205 to the carrying fixture 10 on the annular conveying mechanism 8, thereby realizing the cleaning and loading of the part A.

[0034] The first grasping mechanism 202 includes a connecting seat 2021, which is connected to the working end of the robot. A first grasping cylinder 2022 is arranged on the side of the connecting seat 2021. The output end of the first grasping cylinder 2022 is vertically downward and connected to a lifting plate 2023. A first electromagnet 2024 is arranged at the bottom end of the lifting plate 2023. In this way, the first grasping cylinder 2022 drives the lifting plate 2023 to descend, and the first electromagnet 2024 grasps part A by magnetic attraction. The first electromagnet 2024 loses power to achieve the placement of part A.

[0035] The second grabbing mechanism 205 includes a second grabbing cylinder 2051, which is arranged at the moving end of the vertical linear module 206. The output end of the second grabbing cylinder 2051 is vertically downward and connected to a lifting block 2052. A carrying plate 2053 is arranged at the bottom of the lifting block 2052. The carrying plate 2053 extends horizontally in a direction away from the vertical linear module 206. A second electromagnet 2054 is arranged at the end of the carrying plate 2053. In this way, the second grabbing cylinder 2051 drives the lifting block 2052 to descend, the carrying plate 2053 locks the lifting block 2052 to descend, and the second electromagnet 2054 uses magnetic force to absorb and grab part A. The second electromagnet 2054 loses power to achieve the placement of part A.

[0036] The loading mechanism 5 includes a flexible feeding module 501, a spider manipulator 502 and a visual component 503. The flexible feeding module 501 is located on one side of the width direction of the circular conveying mechanism 8. The discharge end of the flexible feeding module 501 is close to the circular conveying mechanism 8. The spider manipulator 502 is located on the inner top of the surface protection cover of the frame 1, and the spider manipulator 502 is located above the circular conveying mechanism 8, and is used to deliver the part B at the discharge end of the flexible feeding module 501 to the supporting fixture 10 on the circular conveying mechanism 8. The visual component 503 is located above the discharge end of the flexible feeding module 501. In this arrangement, the part B is transported through the flexible feeding module 501, and the position of the part B at the discharge end of the flexible feeding module 501 is observed through the visual component 503, and the spider manipulator 502 is cooperated to grab the part B, and the spider manipulator 502 delivers the part B to the supporting fixture 10 on the circular conveying mechanism 8.

[0037] There are two groups of flexible feeding modules 501 and spider manipulators 502, and they are distributed along the length direction of the annular conveying mechanism 8. This arrangement can improve the feeding efficiency of part B and ensure a compact and orderly production rhythm.

[0038] The visual component 503 includes a camera 5031 and a light source 5032 . The light source 5032 is a ring-shaped light source 5032 and is circumferentially distributed outside the lens end of the camera 5031 .

[0039] The laser welding assembly 9 includes a lifting linear module 901 and a clamping assembly 904. The lifting linear module 901 is located on the outside of the circular conveying mechanism 8 in the width direction. A carrier frame 902 is provided at the lifting end of the lifting linear module 901. The carrier frame 902 extends horizontally to the top of the circular conveying mechanism 8, and a laser welding machine 903 is provided on the surface of the carrier frame 902. The laser welding machine 903 is located above the supporting fixture 10. The clamping assembly 904 is located on one side in the width direction of the circular conveying mechanism 8, and is used to press down part B and part A so that part B and part A are accurately and stably combined. In this arrangement, part A and part B are pressed down by the clamping assembly 904, so that part A and part B on the supporting fixture 10 are accurately and stably combined. The lifting linear module 901 drives the carrier frame 902 to descend, and the laser welding machine 903 completes the welding connection of part B and part A.

[0040] The clamping assembly 904 includes a clamping bracket 9041. There are two groups of clamping brackets 9041 located on both sides of the supporting fixture 10. A clamping cylinder 9042 is arranged on the side of the clamping bracket 9041. The output end of the clamping cylinder 9042 is vertically upward, and a clamping fixture 9043 is connected between the output ends of the two clamping cylinders 9042. In this way, the two clamping cylinders 9042 work synchronously to drive the clamping fixture 9043 to descend. The clamping fixture 9043 clamps parts A and B, so that parts A and B on the supporting fixture 10 are accurately and stably combined to ensure welding accuracy.

[0041] With the above structure, during production, part B is transported to the carrier jig 10 on the ring conveying mechanism 8 by the feeding mechanism 5, and part B is transported by the ring conveying mechanism 8; part A on the first tray feeder 4 is transported to the conveyor belt of the ultrasonic cleaning machine 3 by the first material transfer mechanism 2, and part A is cleaned by the ultrasonic cleaning machine 3; after the cleaning of part A is completed, part A cleaned by the ultrasonic cleaning machine 3 is transported to the carrier jig 10 on the ring conveying mechanism 8 by the first material transfer mechanism 2, so that part A and part B are assembled; the assembled parts A and B are transported to the laser welding assembly 9 by the ring conveying mechanism 8, and the welding connection between parts A and B is realized by the laser welding assembly 9, and the ring conveying mechanism 8 transports the welded product to the second material transfer mechanism 6, and the second material transfer mechanism 6 transfers the welded product to the second material transfer mechanism 6; automatic cleaning and feeding of part A, automatic feeding of part B, and assembly of part A can be realized. The automatic welding of part A and part B and the automatic unloading of the welded product use the ring conveying mechanism 8 as the main transfer equipment. The loading, welding and unloading rhythms are stable and constant, and the overall degree of automation is high, which helps to ensure the welding quality and improve the welding efficiency.

[0042] The above is only a specific implementation of the utility model, but the protection scope of the utility model is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the utility model, which should be included in the protection scope of the utility model. Therefore, the protection scope of the utility model should be based on the protection scope of the claims.

Claims

1. A circular assembly production line, characterized in that: The invention comprises a frame (1), an ultrasonic cleaning machine (3), a first tray feeder (4) and a second tray feeder (7); the frame (1) is provided with an annular conveying mechanism (8) on its surface; the annular conveying mechanism (8) is provided with a supporting fixture (10) evenly disposed on its surface; the first tray feeder (4) and the second tray feeder (7) are located on two sides of the annular conveying mechanism (8) in a width direction and are respectively close to two ends of the annular conveying mechanism (8) in a length direction; and the ultrasonic cleaning machine (3) is located on a side surface of the annular conveying mechanism (8) in a length direction; A first material transfer mechanism (2) and a second material transfer mechanism (6) are respectively arranged on both sides of the length direction of the annular conveying mechanism (8); the first material transfer mechanism (2) corresponds to the first tray feeder (4) and the ultrasonic cleaning machine (3), and is used to deliver part A on the first tray feeder (4) to the ultrasonic cleaning machine (3), and deliver part A cleaned by the ultrasonic cleaning machine (3) to a supporting fixture (10) on the surface of the annular conveying mechanism (8); the second material transfer mechanism (6) corresponds to the second tray feeder (7), and is used to deliver the welded product to the second tray feeder (7); a loading mechanism (5) is arranged on the side of the width direction of the annular conveying mechanism (8), and is used to deliver part B to the supporting fixture (10) on the annular conveying mechanism (8); a laser welding assembly (9) is arranged on the surface of the frame (1), and is used to weld part A and part B.

2. The circular assembly production line according to claim 1, characterized in that: The first material transfer mechanism (2) and the second material transfer mechanism (6) have the same structure. The first material transfer mechanism (2) comprises a robot mechanism (201), a longitudinal linear module (203) and a transverse linear module (207). The robot mechanism (201) corresponds to the first tray feeder (4) and the ultrasonic cleaning machine (3). The working end of the robot mechanism (201) is provided with a first gripping mechanism (202). The longitudinal linear module (203) is located on the side of the annular conveying mechanism (8) in the width direction. The movable end of the module (203) moves along the length direction of the annular conveying mechanism (8), and a positioning fixture (204) is provided on the surface of the movable end of the longitudinal linear module (203); the transverse linear module (207) is arranged inside the frame (1), the movable end of the transverse linear module (207) moves along the width direction of the annular conveying mechanism (8), and a vertical linear module (206) is provided at the movable end of the transverse linear module (207), and the movable end of the vertical linear module (206) is lifted and lowered vertically and is provided with a second gripping mechanism (205).

3. A circular assembly production line according to claim 2, characterized in that: The first grasping mechanism (202) comprises a connecting seat (2021), the connecting seat (2021) is connected to the working end of the robot, a first grasping cylinder (2022) is arranged on the side of the connecting seat (2021), the output end of the first grasping cylinder (2022) is vertically downward and connected to a lifting plate (2023), and a first electromagnet (2024) is arranged at the bottom end of the lifting plate (2023).

4. The annular assembly production line according to claim 2, characterized in that: The second grasping mechanism (205) comprises a second grasping cylinder (2051), the second grasping cylinder (2051) is arranged at the moving end of the vertical linear module (206), the output end of the second grasping cylinder (2051) is vertically downward and connected to a lifting block (2052), a bearing plate (2053) is arranged at the bottom of the lifting block (2052), the bearing plate (2053) extends horizontally in a direction away from the vertical linear module (206), and a second electromagnet (2054) is arranged at the end of the bearing plate (2053).

5. The circular assembly production line according to claim 1, characterized in that: The feeding mechanism (5) comprises a flexible feeding module (501), a spider manipulator (502) and a visual component (503); the flexible feeding module (501) is located on one side of the circular conveying mechanism (8) in the width direction; the discharge end of the flexible feeding module (501) is close to the circular conveying mechanism (8); the spider manipulator (502) is located on the inner top of the surface protective cover of the frame (1); and the spider manipulator (502) is located above the circular conveying mechanism (8) and is used to deliver the part B at the discharge end of the flexible feeding module (501) to the supporting fixture (10) on the circular conveying mechanism (8); and the visual component (503) is located above the discharge end of the flexible feeding module (501).

6. The annular assembly production line according to claim 5, characterized in that: The flexible feeding modules (501) and spider manipulators (502) are provided in two groups and are distributed along the length direction of the annular conveying mechanism (8).

7. The annular assembly production line according to claim 5, characterized in that: The visual component (503) comprises a camera (5031) and a light source (5032); the light source (5032) is a ring-shaped light source (5032) and is distributed in a circle outside the lens end of the camera (5031).

8. The circular assembly production line according to claim 1, characterized in that: The laser welding assembly (9) comprises a lifting linear module (901) and a clamping assembly (904); the lifting linear module (901) is located on the outside of the circular conveying mechanism (8) in the width direction; a bearing frame (902) is provided at the lifting end of the lifting linear module (901); the bearing frame (902) extends horizontally to above the circular conveying mechanism (8); and a laser welding machine (903) is provided on the surface of the bearing frame (902); the laser welding machine (903) is located above the bearing fixture (10); and the clamping assembly (904) is located on one side of the circular conveying mechanism (8) in the width direction and is used to press down part B and part A so that part B and part A are accurately and stably combined.

9. The circular assembly production line according to claim 8, characterized in that: The clamping assembly (904) comprises a clamping bracket (9041), wherein two groups of the clamping brackets (9041) are provided and are located on both sides of the supporting fixture (10), a clamping cylinder (9042) is provided on the side of the clamping bracket (9041), the output end of the clamping cylinder (9042) is vertically upward, and a clamping fixture (9043) is connected between the output ends of the two clamping cylinders (9042).

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