Rotary variable-pitch transplanting device

Abstract

The utility model provides a rotary variable-pitch transplanting device which comprises a mounting table, a driving mechanism, a rotating arm, a connecting rod assembly and a variable-pitch assembly, the power output end of the driving mechanism is fixedly connected with one end of the rotating arm, one end of the connecting rod assembly is rotatably mounted on the mounting table, and the connecting rod assembly is slidably connected with the rotating arm; the variable-pitch assembly comprises a guide part and a variable-pitch part, the variable-pitch part is slidably connected with the guide part, the guide part is fixedly mounted at the end, away from the driving mechanism, of the rotating arm, the variable-pitch part is rotatably mounted at the end, away from the mounting table, of the connecting rod assembly, and at least two suction cups are mounted on the variable-pitch part; the connecting rod assembly rotates along with the rotating arm to drive the connecting rod assembly to slide on the rotating arm, so that the distance changing part is driven to slide on the guiding part, the distance changing part changes the distance between the suction cups, and when the rotating arm reaches a machining station, the distance between the suction cups reaches a preset value. The whole rotating pitch changing process has high stability and reliability and high pitch changing precision.

Description

Technical Field

[0001] The present application belongs to the technical field of photovoltaic cell production, and specifically, relates to a rotary variable-distance transplanting device. Background Art

[0002] The most commonly used shapes of solar cells are whole cells, half cells and rectangular cells. During the laser grooving, modification and printing of solar cells, two cells are often processed simultaneously for half cells or rectangular cells. Specifically, two silicon wafers need to be transferred between the conveyor line and the processing platform at the same time, and the distance between the two silicon wafers needs to be changed during the transfer.

[0003] The variable pitch driving force of the existing variable pitch transplanting device is achieved by the synchronous belt driving the synchronous wheel. Since the synchronous belt is flexible, it will vibrate during high-speed transplanting, which will greatly reduce the spacing accuracy between silicon wafers and even cause silicon wafers to fall, affecting the production rhythm. Utility Model Content

[0004] In view of this, the present application provides a rotating variable distance transplanting device, in which the variable distance component changes distance while rotating, so that the distance between each suction cup reaches a preset value when the suction cup reaches the processing station. The whole process is stable and reliable, with high variable distance accuracy.

[0005] A rotary variable pitch transplanting device comprises a mounting platform, a driving mechanism, a rotating arm, a connecting rod assembly and a variable pitch assembly, wherein the driving mechanism is mounted on the mounting platform, a power output end of the driving mechanism is fixedly connected to one end of the rotating arm, one end of the connecting rod assembly is rotatably mounted on the mounting platform, and the connecting rod assembly is slidably connected to the rotating arm;

[0006] The pitch changing assembly comprises a guide part and a pitch changing part, wherein the pitch changing part is slidably connected to the guide part, the guide part is fixedly mounted on an end of the rotating arm away from the driving mechanism, the pitch changing part is rotatably mounted on an end of the connecting rod assembly away from the mounting platform, and at least two suction cups are mounted on the pitch changing part;

[0007] The connecting rod assembly rotates along with the rotating arm, driving the connecting rod assembly to slide on the rotating arm, thereby driving the distance-changing portion to slide on the guiding portion, so that the distance-changing portion changes the distance between the suction cups.

[0008] Preferably, a guide rail is fixedly mounted on the rotating arm, and a slider is slidably mounted on the guide rail;

[0009] The connecting rod assembly includes a first connecting rod and a second connecting rod, one end of the first connecting rod is rotatably mounted on the mounting platform, one end of the second connecting rod is rotatably mounted on the pitch changing portion, and the other ends of the first connecting rod and the second connecting rod are both rotatably mounted on the sliding block.

[0010] Preferably, a connection point between the first connecting rod and the slider coincides with a connection point between the second connecting rod and the slider.

[0011] Preferably, two suction cups are installed on the pitch changing part.

[0012] Preferably, the pitch changing part comprises a linear slider, a first pitch changing unit and a second pitch changing unit, the first pitch changing unit and the second pitch changing unit are both rotatably connected to the linear slider, and one suction cup is installed on each of the first pitch changing unit and the second pitch changing unit;

[0013] The guide part is a linear guide rail, the linear slider is slidably connected to the guide part, and one end of the second connecting rod away from the first connecting rod is rotatably connected to the linear slider.

[0014] Preferably, the first pitch-changing unit comprises a first pitch-changing connecting rod, a first pitch-changing slider and a first pitch-changing slide rail, the two ends of the first pitch-changing connecting rod are rotatably mounted on the first pitch-changing slider and the linear slider respectively, the first pitch-changing slider is slidably mounted on the first pitch-changing slide rail, and the first pitch-changing slide rail is fixedly mounted on one of the suction cups;

[0015] The second pitch changing unit comprises a second pitch changing connecting rod, a second pitch changing slider and a second pitch changing slide rail. Both ends of the second pitch changing connecting rod are rotatably mounted on the second pitch changing slider and the linear slider respectively. The second pitch changing slider is slidably mounted on the second pitch changing slide rail. The second pitch changing slide rail is fixedly mounted on another suction cup.

[0016] Preferably, the connection point between the second connecting rod and the linear slider is located at one end of the linear slider, and the connection points between the first variable pitch connecting rod, the second variable pitch connecting rod and the linear slider are located at the other end of the linear slider.

[0017] Preferably, it also includes a fixed block, one end of which is fixedly mounted on the mounting platform, one end of the first connecting rod away from the second connecting rod is rotatably mounted on the fixed block, and the rotating arm is located between the fixed block and the mounting platform.

[0018] Preferably, the driving mechanism comprises a driving motor and a reducer, the driving motor is mounted on the mounting platform, a power output end of the driving motor is connected to the reducer, and the reducer is fixedly connected to one end of the rotating arm.

[0019] The beneficial effects of the present application are as follows: the rotating arm rotates under the action of the driving mechanism, and the connecting rod assembly rotates with the rotating arm, so that the connecting rod assembly slides on the rotating arm, thereby driving the pitch changing part to slide on the guide part, changing the spacing between the suction cups installed on the pitch changing part, and the spacing between the suction cups reaches a preset value when the rotating arm reaches the processing station. The entire rotation pitch changing process has high stability and reliability, and high pitch changing accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, 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 embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0021] The structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification so as to facilitate understanding and reading by persons familiar with this technology. They are not used to limit the conditions under which this application can be implemented, and therefore have no substantive technical significance. Any structural modification, change in proportion or adjustment of size, without affecting the effects and purposes that can be achieved by this application, should still fall within the scope of the technical contents disclosed in this application.

[0022] Figure 1 It is a structural schematic diagram of the rotary variable-pitch transplanting device at the loading station;

[0023] Figure 2 It is a structural schematic diagram of the rotary variable distance transplanting device at the processing station.

[0024] Among them: 1-mounting table; 2-driving mechanism; 3-rotating arm; 31-guide rail; 32-slider; 4-connecting rod assembly; 41-first connecting rod; 42-second connecting rod; 5-guide part; 6-pitch changing part; 61-linear slider; 62-first pitch changing unit; 621-first pitch changing connecting rod; 622-first pitch changing slider; 623-first pitch changing slide rail; 63-second pitch changing unit; 631-second pitch changing connecting rod; 632-second pitch changing slider; 633-second pitch changing slide rail; 7-suction cup; 8-fixed block. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the embodiments in the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0026] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0027] The present application provides a rotary variable distance transplanting device, referring to Figure 1-2 , comprising a mounting platform 1, a driving mechanism 2, a rotating arm 3, a connecting rod assembly 4 and a pitch-changing assembly, wherein the driving mechanism 2 is mounted on the mounting platform 1, a power output end of the driving mechanism 2 is fixedly connected to one end of the rotating arm 3, one end of the connecting rod assembly 4 is rotatably mounted on the mounting platform 1, and the connecting rod assembly 4 is slidably connected to the rotating arm 3;

[0028] The pitch changing assembly comprises a guide portion 5 and a pitch changing portion 6, wherein the pitch changing portion 6 is slidably connected to the guide portion 5, the guide portion 5 is fixedly mounted on one end of the rotating arm 3 away from the driving mechanism 2, and the pitch changing portion 6 is rotatably mounted on one end of the connecting rod assembly 4 away from the mounting platform 1, and at least two suction cups 7 are mounted on the pitch changing portion 6;

[0029] The connecting rod assembly 4 rotates along with the rotating arm 3 , driving the connecting rod assembly 4 to slide on the rotating arm 3 , thereby driving the variable distance portion 6 to slide on the guide portion 5 , so that the variable distance portion 6 changes the distance between the suction cups 7 .

[0030] Under the action of the driving mechanism 2, the rotating arm 3 rotates from the loading station to the processing station and the unloading station in sequence, and then returns to the loading station to continuously transport the silicon wafers at the loading station to the processing station and the unloading station in sequence. In this process, when the rotating arm 3 is at the loading station, the silicon wafer to be processed is sucked by the suction cup 7, and one suction cup 7 sucks one silicon wafer. Then the driving mechanism 2 is started to drive the rotating arm 3 to move from the loading station to the processing station. When the rotating arm 3 rotates, the connecting rod assembly 4 rotates with the rotating arm 3, driving the connecting rod assembly 4 to slide on the rotating arm 3, thereby driving the variable pitch part 6 to slide on the guide part 5, so that the spacing L between the suction cups 7 installed on the variable pitch part 6 changes. When the rotating arm 3 reaches the processing station, the spacing L between the suction cups 7 just reaches the preset value.

[0031] The present application has high pitch change stability. During the rotation and pitch change process, each suction cup 7 is not prone to shaking. When the rotating arm 3 rotates to the processing station, the spacing L is very close to the preset value, and the pitch change accuracy is high.

[0032] In order to make the processing more efficient, the present application can be provided with two rotating arms 3, and each rotating arm 3 is fixedly connected to the power output end of the driving mechanism 2, and each rotating arm 3 is driven to rotate simultaneously by the driving mechanism 2, and each rotating arm 3 is correspondingly provided with a connecting rod assembly 4 and a variable pitch assembly. Specifically, the two rotating arms 3 are perpendicular to each other, and in the process of one rotating arm 3 rotating from the loading station to the processing station, the other rotating arm 3 rotates from the processing station to the unloading station, so that while the processed silicon wafers are transported to the unloading station, the next group of silicon wafers to be processed are transported to the processing station.

[0033] Preferably, two suction cups 7 are installed on the pitch changing part 6 of this embodiment. When the rotating arm 3 rotates to the processing station, the distance L between the two suction cups 7 installed on the pitch changing part 6 reaches a preset value.

[0034] like Figure 1 and Figure 2 As shown, a guide rail 31 is fixedly mounted on the rotating arm 3, and a slider 32 is slidably mounted on the guide rail 31;

[0035] The connecting rod assembly 4 includes a first connecting rod 41 and a second connecting rod 42, one end of the first connecting rod 41 is rotatably mounted on the mounting platform 1, one end of the second connecting rod 42 is rotatably mounted on the pitch changing portion 6, and the other ends of the first connecting rod 41 and the second connecting rod 42 are both rotatably mounted on the slider 32.

[0036] The guide rail 31 is arranged on the upper surface of the rotating shaft 3 along the axial direction of the rotating arm 3. When the rotating arm 3 rotates, the first connecting rod 41 rotates around the connection point between it and the mounting platform 1, and the slider 32 slides on the guide rail 31, so that the variable distance part 6 connected to the second connecting rod 42 slides on the guide part 5, so that the two suction cups 7 installed on the variable distance part 6 are moved closer to or farther away from each other, changing the value of the spacing L.

[0037] In a preferred embodiment, a connection point between the first connecting rod 41 and the slider 32 and a connection point between the second connecting rod 42 and the slider 32 coincide with each other.

[0038] The pitch changing part 6 of this embodiment includes a linear slider 61, a first pitch changing unit 62 and a second pitch changing unit 63, wherein the first pitch changing unit 62 and the second pitch changing unit 63 are both rotatably connected to the linear slider 61, and each of the first pitch changing unit 62 and the second pitch changing unit 63 is provided with a suction cup 7;

[0039] The guide portion 5 is a linear guide rail, the linear slider 61 is slidably connected to the guide portion 5 , and one end of the second connecting rod 42 away from the first connecting rod 41 is rotatably connected to the linear slider 61 .

[0040] The slider 32 slides on the guide rail 31, so that the linear slider 61 slides on the guide portion 5, so that the suction cup 7 installed on the first variable distance unit 62 and the suction cup 7 installed on the second variable distance unit 63 move away from or closer to each other.

[0041] Specifically, the first pitch changing unit 62 includes a first pitch changing connecting rod 621, a first pitch changing slider 622 and a first pitch changing slide rail 623. The two ends of the first pitch changing connecting rod 621 are rotatably mounted on the first pitch changing slider 622 and the linear slider 61, respectively. The first pitch changing slider 622 is slidably mounted on the first pitch changing slide rail 623. The first pitch changing slide rail 623 is fixedly mounted on one of the suction cups 7.

[0042] The second pitch changing unit 63 includes a second pitch changing link 631, a second pitch changing slider 632 and a second pitch changing rail 633. The two ends of the second pitch changing link 631 are rotatably mounted on the second pitch changing slider 632 and the linear slider 61 respectively. The second pitch changing slider 632 is slidably mounted on the second pitch changing rail 633. The second pitch changing rail 633 is fixedly mounted on another suction cup 7.

[0043] Among them, the connection point between the second connecting rod 42 and the linear slider 61 is located at one end of the linear slider 61, and the connection point between the first variable distance connecting rod 621, the second variable distance connecting rod 631 and the linear slider 61 is located at the other end of the linear slider 61.

[0044] like Figure 1 As shown, at this time, the two suction cups 7 are in the loading position. After the two suction cups 7 absorb the silicon wafer, the rotating arm 3 rotates clockwise until the two suction cups 7 reach Figure 2 In the process of reaching the processing station from the loading station, the connecting rod assembly 4 rotates with the rotating arm 3, the slider 32 slides on the guide rail 31 toward the direction of the driving mechanism 2, the angle α between the first connecting rod 41 and the second connecting rod 42 increases, and the linear slider 61 slides on the guide part 5 in the direction away from the first variable distance connecting rod 621 and the second variable distance connecting rod 631 (i.e. Figure 1The first variable distance slider 622 slides on the first variable distance slide rail 623 in the direction away from the second variable distance unit 63, and the second variable distance slider 632 slides on the second variable distance slide rail 633 in the direction away from the first variable distance unit 62, thereby making the first variable distance link 621 and the second variable distance link 631 move away from each other, the angle β between the first variable distance link 621 and the second variable distance link 631 increases, and the distance L between the two suction cups 7 gradually increases. When the two suction cups 7 arrive at the processing station, the distance L just reaches the preset value, and at this time, the distance between the two silicon wafers sucked by the two suction cups 7 reaches the required distance.

[0045] When arriving at the processing station, whether the spacing L becomes larger or smaller depends on the incoming material situation, and this application does not make specific restrictions. If the spacing L at the loading station is less than the preset value, then the spacing L becomes larger in the process of arriving at the processing station; if the spacing L at the loading station is greater than the preset value, then the spacing L becomes smaller in the process of arriving at the processing station. Specifically, according to the size of the incoming material spacing, the length of the first connecting rod 41 and the second connecting rod 42 is adjusted so that the spacing L becomes larger or smaller after arriving at the processing station from the loading station to ensure that the spacing between the silicon wafers can reach the preset value after the silicon wafer arrives at the processing station. And the variation range of the spacing L can also be adjusted by adjusting the size of the first variable distance connecting rod 621 and the second variable distance connecting rod 631.

[0046] Furthermore, the rotary variable-distance transplanting device of this embodiment also includes a fixed block 8, one end of the fixed block 8 is fixedly mounted on the mounting platform 1, one end of the first connecting rod 41 away from the second connecting rod 42 is rotatably mounted on the fixed block 8, and the rotating arm 3 is located between the fixed block 8 and the mounting platform 1.

[0047] It can be understood that one end of the fixed block 8 is fixedly mounted on the mounting platform 1, and a space capable of accommodating the rotating arm 3 is formed between the other end and the mounting platform 1, so that the fixed block 8 will not affect the rotation of the rotating arm 3, and the rotation of the rotating arm 3 can make the first connecting rod 41 rotate around the connection point between it and the fixed block 8, thereby achieving the purpose of rotational variable distance transplanting.

[0048] The driving mechanism 2 of this embodiment includes a driving motor and a reducer. The driving motor is installed on the mounting platform 1. The power output end of the driving motor is connected to the reducer, and the reducer is fixedly connected to one end of the rotating arm 3. This can make the process of rotating variable pitch transplanting more stable and reliable.

[0049] During the rotational variable pitch transplantation process of the present application, the angle α between the first connecting rod 41 and the second connecting rod 42 increases, so that the angle β between the first variable pitch connecting rod 621 and the second variable pitch connecting rod 631 increases, so that the spacing L increases. Since the entire variable pitch process is driven by the connecting rod to achieve the variable pitch, the entire process is stable and reliable, and it is not easy to shake during the variable pitch transplantation process. When the suction cup 7 reaches the processing position, the error value between the spacing L and the preset value is very small, with high variable pitch accuracy.

[0050] It is understandable that when the distance between two incoming silicon wafers is too large, during the process of the rotary pitch-variable transplanting device of the present application, the angle α becomes smaller, the angle β becomes smaller, so that the distance L becomes smaller, and when reaching the processing station, the distance L just reaches the preset value. The specific process is similar to the above, and will not be described in detail here.

[0051] The structure in which the sliders and rails cooperate with each other in the present application can also be replaced by a structure in which linear bearings and guide rods cooperate with each other. The present application does not make any specific limitation on this, as long as the purpose of the present application can be achieved.

[0052] In this specification, each embodiment is described in a progressive, parallel, or progressive and parallel manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0053] It should be noted that in the description of the present application, it should be understood that the terms "upper", "lower", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, which are only for the convenience of describing the present application 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 cannot be understood as a limitation on the present application. When a component is considered to be "connected" to another component, it may be directly connected to the other component or there may be a centrally arranged component at the same time.

[0054] It should also be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprises", "comprising" or any other variants thereof are intended to cover non-exclusive inclusion, so that an article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such article or device. In the absence of further restrictions, the elements defined by the sentence "comprising a ..." do not exclude the existence of other identical elements in the article or device including the above elements.

[0055] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A rotary variable distance transplanting device, characterized in that: The invention comprises a mounting platform (1), a driving mechanism (2), a rotating arm (3), a connecting rod assembly (4) and a pitch-changing assembly, wherein the driving mechanism (2) is mounted on the mounting platform (1), a power output end of the driving mechanism (2) is fixedly connected to one end of the rotating arm (3), one end of the connecting rod assembly (4) is rotatably mounted on the mounting platform (1), and the connecting rod assembly (4) is slidably connected to the rotating arm (3); The pitch-changing assembly comprises a guide portion (5) and a pitch-changing portion (6), wherein the pitch-changing portion (6) is slidably connected to the guide portion (5), the guide portion (5) is fixedly mounted on an end of the rotating arm (3) away from the driving mechanism (2), and the pitch-changing portion (6) is rotatably mounted on an end of the connecting rod assembly (4) away from the mounting platform (1), and at least two suction cups (7) are mounted on the pitch-changing portion (6); The connecting rod assembly (4) rotates along with the rotating arm (3), driving the connecting rod assembly (4) to slide on the rotating arm (3), thereby driving the variable distance portion (6) to slide on the guide portion (5), so that the variable distance portion (6) changes the distance to change the spacing between the suction cups (7).

2. A rotary variable distance transplanting device according to claim 1, characterized in that: A guide rail (31) is fixedly mounted on the rotating arm (3), and a slider (32) is slidably mounted on the guide rail (31); The connecting rod assembly (4) comprises a first connecting rod (41) and a second connecting rod (42), one end of the first connecting rod (41) is rotatably mounted on the mounting platform (1), one end of the second connecting rod (42) is rotatably mounted on the pitch-changing portion (6), and the other ends of the first connecting rod (41) and the second connecting rod (42) are both rotatably mounted on the slider (32).

3. A rotary variable distance transplanting device according to claim 2, characterized in that: The connection point between the first connecting rod (41) and the slider (32) and the connection point between the second connecting rod (42) and the slider (32) coincide with each other.

4. A rotary variable distance transplanting device according to claim 2, characterized in that: Two suction cups (7) are installed on the pitch changing part (6).

5. A rotary variable distance transplanting device according to claim 4, characterized in that: The pitch changing part (6) comprises a linear slider (61), a first pitch changing unit (62) and a second pitch changing unit (63); the first pitch changing unit (62) and the second pitch changing unit (63) are both rotatably connected to the linear slider (61), and one suction cup (7) is mounted on each of the first pitch changing unit (62) and the second pitch changing unit (63); The guide part (5) is a linear guide rail, the linear slider (61) is slidably connected to the guide part (5), and one end of the second connecting rod (42) away from the first connecting rod (41) is rotatably connected to the linear slider (61).

6. A rotary variable distance transplanting device according to claim 5, characterized in that: The first pitch-changing unit (62) comprises a first pitch-changing connecting rod (621), a first pitch-changing sliding block (622) and a first pitch-changing sliding rail (623); two ends of the first pitch-changing connecting rod (621) are rotatably mounted on the first pitch-changing sliding block (622) and the linear sliding block (61), respectively; the first pitch-changing sliding block (622) is slidably mounted on the first pitch-changing sliding rail (623); and the first pitch-changing sliding rail (623) is fixedly mounted on one of the suction cups (7); The second pitch changing unit (63) comprises a second pitch changing connecting rod (631), a second pitch changing slider (632) and a second pitch changing slide rail (633); two ends of the second pitch changing connecting rod (631) are rotatably mounted on the second pitch changing slider (632) and the linear slider (61), respectively; the second pitch changing slider (632) is slidably mounted on the second pitch changing slide rail (633); and the second pitch changing slide rail (633) is fixedly mounted on another suction cup (7).

7. A rotary variable distance transplanting device according to claim 6, characterized in that: The connection point between the second connecting rod (42) and the linear slider (61) is located at one end of the linear slider (61), and the connection point between the first variable distance connecting rod (621), the second variable distance connecting rod (631) and the linear slider (61) is located at the other end of the linear slider (61).

8. A rotary variable distance transplanting device according to any one of claims 2 to 7, characterized in that: It also comprises a fixed block (8), one end of which is fixedly mounted on the mounting platform (1), one end of the first connecting rod (41) away from the second connecting rod (42) is rotatably mounted on the fixed block (8), and the rotating arm (3) is located between the fixed block (8) and the mounting platform (1).

9. A rotary variable distance transplanting device according to any one of claims 1 to 7, characterized in that: The driving mechanism (2) comprises a driving motor and a reducer, wherein the driving motor is mounted on the mounting platform (1), the power output end of the driving motor is connected to the reducer, and the reducer is fixedly connected to one end of the rotating arm (3).

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