Feeding and discharging manipulator

Abstract

The utility model relates to the technical field of feeding and discharging mechanical arms, and discloses a feeding and discharging mechanical arm which comprises a transverse frame, a transmission sleeve is movably installed on the outer surface of the transverse frame, a vertical frame is fixedly installed at the bottom of the transmission sleeve, a connecting plate is installed on the side wall of the vertical frame in a sliding mode, and a stand column is fixedly installed at the end of the connecting plate. A transmission rod is movably connected to the inner wall of the bottom of the stand column, a clamping jaw is arranged at the bottom of the transmission rod, and a guide mechanism is arranged in the stand column. The guide mechanism is arranged, the matched clamping jaw is attached to and flush with materials on the conveying belt, the matched clamping jaw stably clamps the materials, then the elastic force of a volute spiral spring drives a protruding strip to enter a gap between limiting teeth, calibration and positioning are achieved when the materials on the conveying belt are grabbed by the clamping jaw, the stability during material grabbing is improved, and the working efficiency is improved. And meanwhile, resetting can be achieved after the materials are grabbed, limiting teeth and protruding strips are matched, and the stability of the materials in the grabbing and conveying process is guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of loading and unloading manipulators, in particular to a loading and unloading manipulator. Background Art

[0002] When the gear hobbing machine is in production, it needs to continuously load the materials. With the continuous operation of the robot, there is no need for manual operation. The staff only needs to use the chain feeding equipment to transport the materials from the raw material storage to the loading area of ​​the gear hobbing machine, and control the robot to load and unload the materials through the camera.

[0003] Existing manipulators generally have biaxial motion effects, which are controlled by servo motors to achieve motorized transmission within the area. Together with mechanical claws, they can load materials on the chain feed belt and unload processed materials.

[0004] However, in actual use of the above-mentioned equipment, when the manipulator controlled by the servo motor grabs the materials on the chain feed belt, since the materials are generally placed manually, and the material conveying equipment such as the chain conveyor belt may have a certain position deviation when driving the material to move, this may easily cause the manipulator to grasp the materials crookedly or deviate from the original position, thereby preventing it from grabbing the materials in a timely and efficient manner, affecting the subsequent processing progress. In view of this, we propose a loading and unloading manipulator. Utility Model Content

[0005] The purpose of the utility model is to provide a loading and unloading robot to solve the problems raised in the above background technology.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a loading and unloading manipulator, comprising a horizontal frame, a transmission sleeve is movably mounted on the outer surface of the horizontal frame, a vertical frame is fixedly mounted on the bottom of the transmission sleeve, a connecting plate is slidably mounted on the side wall of the vertical frame, a column is fixedly mounted on the end of the connecting plate, a transmission rod is movably connected to the inner wall of the bottom of the column, a clamping claw is arranged at the bottom of the transmission rod, a servo control mechanism is arranged inside the horizontal frame and the vertical frame, a guiding mechanism is arranged inside the column, and the guiding mechanism comprises:

[0007] A transmission cavity, the inner wall of the column is provided with a transmission cavity, the top inner wall of the transmission cavity is fixedly connected with a telescopic rod, the bottom end of the telescopic rod is fixedly installed with a transmission plate, the lower surface of the transmission plate is rotatably connected with the top end of the transmission rod, a compression spring is fixedly connected between the top inner wall of the transmission cavity and the upper surface of the transmission plate, and a volute spring is sleeved on the arc-shaped outer wall of the transmission rod;

[0008] A positioning ring is provided on the inner wall of the bottom of the column, a limiting tooth is fixedly installed on the arc-shaped inner surface of the positioning ring, and a convex strip is fixedly installed on the arc-shaped outer wall of the transmission rod.

[0009] Preferably, the servo control mechanism includes a servo motor 1, a servo motor 1 is fixedly installed on the end of the horizontal frame, an adjusting screw 1 is fixedly installed on the output end of the servo motor 1, the outer wall of the adjusting screw 1 is threadedly connected with a threaded slider, the side wall of the threaded slider is fixedly connected to the inner surface of the transmission sleeve, and a servo motor 2 is fixedly installed on the inner wall of the vertical frame, an adjusting screw 2 is fixedly installed on the output end of the servo motor 2, the outer wall of the adjusting screw 2 is threadedly connected with a lower threaded sleeve and an upper threaded sleeve, the side wall of the upper threaded sleeve is hinged with the top of a connecting rod, the bottom end of the connecting rod is hinged to the upper surface of a connecting plate, and the side wall of the lower threaded sleeve is fixedly connected to the connecting plate and the end away from the column.

[0010] Preferably, the inner walls on the left and right sides of the horizontal frame are provided with rectangular grooves with a width that matches the width of the connection between the threaded slider and the transmission sleeve. The threaded slider can drive the transmission sleeve to move horizontally along the outer surface of the horizontal frame. The side walls of the vertical frame are provided with connecting grooves with a width that matches the width of the connecting plate. The lower threaded sleeve will drive the connecting plate and the column to move in the vertical direction.

[0011] Preferably, there are multiple groups of limiting teeth, and the multiple groups of limiting teeth are evenly distributed in a circular array on the arc-shaped inner surface of the positioning ring. The size of the convex strip is adapted to the gap between two adjacent groups of limiting teeth, and the bottom edge of the convex strip is rounded.

[0012] Preferably, a clamping mechanism is provided inside the column, and the clamping mechanism includes a clamping cavity, the inner wall of the column is provided with a clamping cavity, a telescopic sleeve is fixedly installed on the bottom of the side of the transmission plate, the bottom end of the telescopic sleeve is fixedly connected to a flat plate, a fixing plate is fixedly installed on the inner wall of the clamping cavity, an elastic member is fixedly connected between the fixing plate and the lower surface of the flat plate, the lower surface of the flat plate is hinged with the top end of a hinged rod, the bottom end of the hinged rod is hinged with a clamping block, the outer surface of the clamping block close to the center of the column is provided with an ejection tooth, a convex ball is provided on the side wall of the ejection tooth, and a contact groove is provided inside the limiting tooth.

[0013] Preferably, the ejection tooth is matched with the contact groove, and the limiting tooth is made of rubber material. When the ejection tooth completely enters the contact groove, the limiting tooth will be slightly deformed due to the setting of the convex ball.

[0014] Compared with the prior art, the utility model provides a loading and unloading manipulator, which has the following beneficial effects:

[0015] 1. The loading and unloading robot is provided with a guiding mechanism, which cooperates with the clamping claw to be close and flush with the material on the conveyor belt, so that the transmission rod will rotate to a certain extent while moving upward along the inner wall of the column, and finally realizes the parallelism of the clamping claw and the material, and cooperates with the clamping claw to achieve stable clamping of the material. Then, driven by the elastic force of the volute spring, the convex strip is driven to enter the gap between the limiting teeth, so as to realize the calibration positioning when the clamping claw grasps the material on the conveyor belt, improve the stability of the material when grasping, and can be reset after grasping the material, cooperate with the limiting teeth and the convex strip to ensure the stability of the material during the grasping and transmission process.

[0016] 2. The loading and unloading robot is provided with a clamping mechanism. When the transmission plate moves downward under the pressure of the clamping spring and drives the transmission rod to reset, the clamping block drives the ejection tooth into the contact groove in cooperation with the transmission of the flat plate and the hinged rod, and cooperates with the convex ball arranged on the side of the ejection tooth to make the limiting tooth produce a slight deformation, so as to enable the limiting tooth to better position the convex strip, thereby ensuring the stability of the transmission rod and the clamping claw during the material clamping process, and further ensuring the stability of the subsequent processing of the material. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the main structure of the utility model;

[0018] Figure 2 This is a schematic diagram of the cross-sectional structure of the utility model;

[0019] Figure 3 This is a schematic diagram of the cross-sectional structure of the column of the utility model;

[0020] Figure 4 This is a partial enlarged structural diagram of the bottom of the column of the utility model;

[0021] Figure 5 It is a schematic diagram of a partial three-dimensional structure of the guiding mechanism of the utility model;

[0022] Figure 6 It is a three-dimensional schematic diagram of the tightening mechanism of the utility model.

[0023] In the figure: 1, horizontal frame; 2, transmission sleeve; 3, vertical frame; 4, connecting plate; 5, column; 6, transmission rod; 7, clamping claw; 8, servo control mechanism; 81, servo motor one; 82, adjusting screw rod one; 83, threaded slider; 84, servo motor two; 85, adjusting screw rod two; 86, lower threaded sleeve; 87, upper threaded sleeve; 88, connecting rod; 9, guiding mechanism; 91, transmission cavity; 92, telescopic rod; 93, transmission plate; 94, compression spring; 95, scroll spring; 96, positioning ring; 97, limiting tooth; 98, convex strip; 10, tightening mechanism; 101, tightening cavity; 102, telescopic sleeve; 103, flat plate; 104, fixing plate; 105, elastic member; 106, hinged rod; 107, tightening block; 108, ejector tooth; 109, convex ball; 100, contact groove. DETAILED DESCRIPTION

[0024] like Figure 1-Figure 6 As shown, the utility model provides a technical solution: a loading and unloading robot, including a horizontal frame 1, a transmission sleeve 2 is movably installed on the outer surface of the horizontal frame 1, a vertical frame 3 is fixedly installed on the bottom of the transmission sleeve 2, a connecting plate 4 is slidably installed on the side wall of the vertical frame 3, a column 5 is fixedly installed on the end of the connecting plate 4, a transmission rod 6 is movably connected to the bottom inner wall of the column 5, a clamping claw 7 is arranged at the bottom of the transmission rod 6, a servo control mechanism 8 is arranged inside the horizontal frame 1 and the vertical frame 3, a guiding mechanism 9 is arranged inside the column 5, and the guiding mechanism 9 includes a transmission cavity 91, a telescopic rod 92, a transmission plate 93, a clamping spring 94, a spiral spring 95, a positioning ring 96, a limiting tooth 97 and a convex strip 98.

[0025] In one embodiment of the utility model, a transmission cavity 91 is formed on the inner wall of the column 5, a telescopic rod 92 is fixedly connected to the top inner wall of the transmission cavity 91, a transmission plate 93 is fixedly installed on the bottom end of the telescopic rod 92, the lower surface of the transmission plate 93 is rotatably connected to the top end of the transmission rod 6, a compression spring 94 is fixedly connected between the top inner wall of the transmission cavity 91 and the upper surface of the transmission plate 93, a volute spring 95 is sleeved on the arc-shaped outer wall of the transmission rod 6, a positioning ring 96 is formed on the bottom inner wall of the column 5, a limiting tooth 97 is fixedly installed on the arc-shaped inner surface of the positioning ring 96, and a convex strip 98 is fixedly installed on the arc-shaped outer wall of the transmission rod 6.

[0026] Furthermore, the servo control mechanism 8 includes a servo motor 81, a servo motor 81 is fixedly installed at the end of the horizontal frame 1, an adjusting screw 82 is fixedly installed at the output end of the servo motor 81, the outer wall of the adjusting screw 82 is threadedly connected with a threaded slider 83, the side wall of the threaded slider 83 is fixedly connected to the inner surface of the transmission sleeve 2, a servo motor 84 is fixedly installed on the inner wall of the vertical frame 3, an adjusting screw 85 is fixedly installed at the output end of the servo motor 84, the outer wall of the adjusting screw 85 is threadedly connected with a lower threaded sleeve 86 and an upper threaded sleeve 87, the side wall of the upper threaded sleeve 87 is hinged with the top of a connecting rod 88, the bottom end of the connecting rod 88 is hinged to the upper surface of the connecting plate 4, the side wall of the lower threaded sleeve 86 is fixedly connected to the connecting plate 4 and the end away from the column 5.

[0027] Specifically, the servo motor 1 81 and the servo motor 2 84 are electrically connected to the external controller through wires to facilitate the device to work according to the control of the external controller. At the same time, the threaded slider 83 is slidably connected to the inner wall of the horizontal frame 1, and the inner walls on the left and right sides of the horizontal frame 1 are provided with rectangular grooves with a width that matches the width of the connection between the threaded slider 83 and the transmission sleeve 2, so that when the servo motor 1 81 drives the adjusting screw rod 1 82 to rotate, the threaded slider 83 can drive the transmission sleeve 2 to move in the horizontal direction along the outer surface of the horizontal frame 1. In addition, the side walls of the vertical frame 3 are provided with a width that matches the connection width. The connecting groove is adapted to the width of the plate 4, so that when the servo motor 84 drives the adjusting screw 85 to rotate, the lower threaded sleeve 86 will drive the connecting plate 4 and the column 5 to move in the vertical direction. Specifically, the internal thread settings of the upper threaded sleeve 87 and the lower threaded sleeve 86 are exactly the same, so that when the adjusting screw 85 rotates, the lower threaded sleeve 86 and the upper threaded sleeve 87 will maintain synchronous and unidirectional movement in the vertical direction, thereby cooperating with the connecting rod 88, so that the column 5 can remain relatively stable during the clamping operation and movement, thereby ensuring the stability of the robot when loading and unloading materials.

[0028] At the same time, the size of the transmission plate 93 is adapted to the transmission cavity 91, so that the transmission plate 93 can only move in the vertical direction inside the transmission cavity 91. In addition, the transmission rod 6 is arranged at the axis of the positioning ring 96, so that the transmission rod 6 can move in the vertical direction inside the positioning ring 96. Specifically, the compression spring 94 is sleeved on the outer side of the telescopic rod 92, and the compression spring 94 always has a downward stretching movement tendency in the initial state, so that in the initial state, the transmission plate 93 always has a tendency to drive the transmission rod 6 to move downward in the vertical direction, and the transmission plate 93 always has a tendency to drive the transmission rod 6 to move downward in the vertical direction. In a further step, the two ends of the volute spring 95 are respectively fixedly connected to the arc-shaped outer wall of the transmission rod 6 and the lower surface of the transmission plate 93, so that the transmission rod 6 always has a movement tendency of reverse rotation to achieve reset when the lower surface of the transmission plate 93 rotates. Specifically, the number of limiting teeth 97 is provided in multiple groups, and the multiple groups of limiting teeth 97 are evenly distributed in a circular array on the arc-shaped inner surface of the positioning ring 96. At the same time, the size of the convex strip 98 is adapted to the gap between the two adjacent groups of limiting teeth 97, and the bottom edge of the convex strip 98 is rounded. When clamping the material, The servo motor 84 drives the adjusting screw rod 85 so that the lower threaded sleeve 86 drives the connecting plate 4 and the column 5 to move downward in the vertical direction until the clamping claw 7 at the bottom of the column 5 contacts the material on the conveyor belt, and as the column 5 continues to move downward, the convex strip 98 on the arc-shaped outer surface of the transmission rod 6 is separated from the positioning ring 96. At this time, since the clamping claw 7 deflects along the outer surface of the material on the conveyor belt, when the clamping claw 7 is flush with the material, it can stably clamp it. In this process, the rotation of the transmission rod 6 will accumulate force on the volute spring 95. After the grabbing is completed, the servo motor is controlled The second 84 drives the lower threaded sleeve 86 to drive the column 5 to move upward, so that the clamping jaw 7 no longer provides a reverse force upward. Under the elastic force of the compression spring 94, the transmission plate 93 moves downward, and the elastic force of the spiral spring 95 is released, driving the transmission rod 6 to rotate and forcing the convex strip 98 to re-enter the gap between the limiting teeth 97, thereby realizing the calibration positioning of the clamping jaw 7 when grasping the material on the conveyor belt, improving the stability of the material when grasping, and at the same time, it can be reset after grasping the material, and cooperate with the limiting teeth 97 and the convex strip 98 to ensure the stability of the material during the grasping and transmission process.

[0029] In addition, a clamping mechanism 10 is provided inside the column 5, and the clamping mechanism 10 includes a clamping cavity 101. The inner wall of the column 5 is provided with the clamping cavity 101, and a telescopic sleeve 102 is fixedly installed on the bottom of the side of the transmission plate 93, and the bottom end of the telescopic sleeve 102 is fixedly connected to a flat plate 103, and a fixed plate 104 is fixedly installed on the inner wall of the clamping cavity 101. The fixed plate 104 and the lower surface of the flat plate 103 are fixedly connected with an elastic member 105, and the lower surface of the flat plate 103 is hinged with the top end of a hinged rod 106, and the bottom end of the hinged rod 106 is hinged with a clamping block 107, and the outer surface of the clamping block 107 close to the center of the column 5 is provided with an ejection tooth 108, and a convex ball 109 is provided on the side wall of the ejection tooth 108, and a contact groove 100 is provided inside the limiting tooth 97.

[0030] In the embodiment of the utility model, there are four groups of the tightening mechanisms 10, and the four groups of tightening mechanisms 10 are evenly distributed on the inner wall of the column 5 in a circular array, so as to tighten the positioning ring 96 in four directions. At the same time, the telescopic sleeve 102 is divided into a sleeve and a slide rod, and the sleeve and the slide rod are slidably connected. After the transmission plate 93 moves downward for a certain distance, the sleeve and the slide rod are pressed against each other and move downward together, thereby generating downward pressure on the plate 103, thereby cooperating with the hinged rod 106 and the tightening block 107 to achieve compression and tightening of the positioning ring 96. Specifically, there is a certain time difference between the tightening and squeezing of the positioning ring 96 by the tightening block 107 and the downward pressing of the transmission plate 93, thereby preventing the transmission rod 6 from being unable to reset in time, resulting in the convex strip 98 not yet entering between the limiting teeth 97 and the limiting teeth 97. The gap between the teeth is squeezed and deformed, which leads to the problem that the transmission rod 6 cannot be reset. At the same time, the elastic member 105 includes a spring and a telescopic member, so that when the telescopic sleeve 102 is no longer squeezed downward, the plate 103 moves upward under the elastic force of the elastic member 105, and cooperates with the hinge rod 106 to drive the clamping block 107 to release the clamping and limiting effect on the limiting tooth 97. Furthermore, the ejector tooth 108 is adapted to the contact groove 100, and the limiting tooth 97 is made of rubber material. When the ejector tooth 108 completely enters the contact groove 100, due to the setting of the convex ball 109, the limiting tooth 97 will produce a slight deformation, so as to prompt the limiting tooth 97 to better position the convex strip 98, thereby ensuring the stability of the transmission rod 6 and the clamping jaw 7 during the material clamping process, and thus ensuring the stability of the subsequent processing of the material.

[0031] In the present utility model, when in use, the worker places the material to be processed on the conveyor belt, and transports the material to the working area of ​​the manipulator through the conveyor belt. At this time, the servo control mechanism 8 is controlled to cooperate with the settings of the servo motor 1 81 and the servo motor 2 84 to coordinate and control the position of the transmission sleeve 2, the vertical frame 3 and the column 5, so as to adjust the specific position of the clamping jaw 7 in the horizontal and vertical directions. When clamping the material, the servo motor 2 84 drives the adjusting screw rod 2 85 so that the lower threaded sleeve 86 drives the connecting plate 4 and the column 5 to move downward in the vertical direction until the clamping jaw 7 at the bottom of the column 5 contacts the material on the conveyor belt, and as the column 5 continues to move downward, the convex strip 98 on the arc-shaped outer surface of the transmission rod 6 is separated from the positioning ring 96. At this time, since the clamping jaw 7 moves along the conveyor belt, the convex strip 98 on the arc-shaped outer surface of the transmission rod 6 is separated from the positioning ring 96. The outer surface of the material on the belt is deflected, and when the clamping jaws 7 are flush with the material, they can clamp it stably. In this process, the rotation of the transmission rod 6 will accumulate force on the volute spring 95. After the grabbing is completed, the servo motor 84 is controlled to drive the lower threaded sleeve 86 to drive the column 5 to move upward, so that the clamping jaws 7 no longer provide a reverse force upward. Under the elastic force of the compression spring 94, the transmission plate 93 moves downward, and the elastic force of the volute spring 95 is released, driving the transmission rod 6 to rotate and forcing the convex strip 98 to re-enter the gap between the limiting teeth 97, thereby realizing the calibration positioning of the clamping jaws 7 when grasping the material on the conveyor belt, improving the stability of the material when grasping, and at the same time, it can be reset after grasping the material, and cooperate with the limiting teeth 97 and the convex strip 98 to ensure the stability of the material during the grasping and transmission process.

[0032] The above generally describes the present invention in detail, but it is obvious to a person skilled in the art that some modifications or improvements can be made to the present invention. Therefore, modifications or improvements that do not deviate from the spirit of the present invention are within the scope of protection of the present invention.

Claims

1. A loading and unloading robot, comprising a horizontal frame (1), a transmission sleeve (2) is movably mounted on the outer surface of the horizontal frame (1), a vertical frame (3) is fixedly mounted at the bottom of the transmission sleeve (2), a connecting plate (4) is slidably mounted on the side wall of the vertical frame (3), a column (5) is fixedly mounted at the end of the connecting plate (4), a transmission rod (6) is movably connected to the bottom inner wall of the column (5), a clamping claw (7) is arranged at the bottom of the transmission rod (6), a servo control mechanism (8) is arranged inside the horizontal frame (1) and the vertical frame (3), characterized in that: A guiding mechanism (9) is arranged inside the column (5), and the guiding mechanism (9) comprises: A transmission cavity (91), wherein the inner wall of the column (5) is provided with a transmission cavity (91), a telescopic rod (92) is fixedly connected to the top inner wall of the transmission cavity (91), a transmission plate (93) is fixedly installed at the bottom end of the telescopic rod (92), the lower surface of the transmission plate (93) is rotatably connected to the top end of the transmission rod (6), a compression spring (94) is fixedly connected between the top inner wall of the transmission cavity (91) and the upper surface of the transmission plate (93), and a volute spring (95) is sleeved on the arc-shaped outer wall of the transmission rod (6); A positioning ring (96) is provided on the inner wall of the bottom of the column (5), a limiting tooth (97) is fixedly installed on the arc-shaped inner surface of the positioning ring (96), and a convex strip (98) is fixedly installed on the arc-shaped outer wall of the transmission rod (6).

2. A loading and unloading robot according to claim 1, characterized in that: The servo control mechanism (8) comprises a servo motor (81), a servo motor (81) is fixedly mounted on the end of the horizontal frame (1), an adjusting screw (82) is fixedly mounted on the output end of the servo motor (81), the outer wall of the adjusting screw (82) is threadedly connected with a threaded slider (83), the side wall of the threaded slider (83) is fixedly connected to the inner surface of the transmission sleeve (2), a servo motor (84) is fixedly mounted on the inner wall of the vertical frame (3), an adjusting screw (85) is fixedly mounted on the output end of the servo motor (84), the outer wall of the adjusting screw (85) is threadedly connected with a lower threaded sleeve (86) and an upper threaded sleeve (87), the side wall of the upper threaded sleeve (87) is hinged with the top end of a connecting rod (88), the bottom end of the connecting rod (88) is hingedly connected to the upper surface of a connecting plate (4), and the side wall of the lower threaded sleeve (86) is fixedly connected to the end of the connecting plate (4) away from the column (5).

3. A loading and unloading robot according to claim 2, characterized in that: The inner walls on the left and right sides of the horizontal frame (1) are provided with rectangular grooves whose width matches the width of the connection between the threaded slider (83) and the transmission sleeve (2), and the side walls of the vertical frame (3) are provided with connection grooves whose width matches the width of the connection plate (4).

4. The loading and unloading robot according to claim 1 is characterized in that: The limiting teeth (97) are provided in a plurality of groups, and the plurality of groups of limiting teeth (97) are evenly distributed in a circular array on the arc-shaped inner surface of the positioning ring (96); the size of the convex strip (98) is adapted to the gap between two adjacent groups of limiting teeth (97), and the bottom edge of the convex strip (98) is rounded.

5. The loading and unloading robot according to claim 1 is characterized in that: A tightening mechanism (10) is arranged inside the column (5), and the tightening mechanism (10) includes a tightening cavity (101). The inner wall of the column (5) is provided with the tightening cavity (101). A telescopic sleeve (102) is fixedly installed at the bottom of the side of the transmission plate (93). The bottom end of the telescopic sleeve (102) is fixedly connected to a flat plate (103). A fixed plate (104) is fixedly installed on the inner wall of the tightening cavity (101). The fixed plate (104) is connected to the flat plate. The lower surface of the plate (103) is fixedly connected with an elastic member (105), the lower surface of the plate (103) is hinged with the top end of a hinged rod (106), the bottom end of the hinged rod (106) is hinged with a clamping block (107), the outer surface of the clamping block (107) close to the center of the column (5) is provided with an ejection tooth (108), the side wall of the ejection tooth (108) is provided with a convex ball (109), and the interior of the limiting tooth (97) is provided with a contact groove (100).

6. A loading and unloading robot according to claim 5, characterized in that: The ejection teeth (108) are matched with the contact grooves (100), and the limiting teeth (97) are made of rubber material.

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