Feeding system for photovoltaic frame raw materials

Abstract

The utility model provides a photovoltaic frame raw material feeding system, and belongs to the technical field of photovoltaic frame machining equipment. The feeding system comprises a material trolley for containing photovoltaic frame raw materials, and further comprises a material conveying line, the moving arm assembly comprises a first moving arm and a second moving arm; the gripper assembly comprises two material grippers, and a visual camera and a gear shaping assembly are arranged on the two material grippers correspondingly; the visual camera is used for shooting to obtain section cavity postures of the raw materials; the gear shaping assembly comprises a gear shaping piece and a gear shaping motor, and the gear shaping motor can control the gear shaping piece to rotate according to the posture of the section cavity of the raw material, so that the gear shaping piece can be inserted into the section cavity of the raw material; the two moving arms can drive the corresponding material grippers to move synchronously so that the raw materials can be placed on a material conveying line through the two gear shaping pieces. According to the feeding system, the feeding time can be saved, the feeding efficiency is improved, the personnel cost is saved, and the number of personnel is reduced.

Description

Technical Field

[0001] The utility model belongs to photovoltaic frame processing equipment, in particular to a feeding system for photovoltaic frame raw materials. Background Art

[0002] In photovoltaic frame processing and other related industries, automated loading mainly relies on pure mechanical operation. These systems have strict restrictions on the arrangement of raw materials in the material basket of the material cart, resulting in a limited amount of material in the material basket, and high requirements for the placement and posture of the raw materials, which affects production efficiency and cost control. At present, most companies on the market still use manual loading, which is time-consuming, inefficient, and requires a large number of people, and the risk of injury is relatively high. Utility Model Content

[0003] In view of the above problems existing in the prior art, the purpose of the embodiment of the utility model is to provide a feeding system for raw materials of photovoltaic frames. The feeding system can save feeding time, improve feeding efficiency, save labor costs, and reduce the number of personnel.

[0004] The technical solution adopted in the embodiment of the utility model is:

[0005] A feeding system for raw materials of a photovoltaic frame, comprising a material vehicle for holding the raw materials of the photovoltaic frame, and the feeding system further comprises:

[0006] A material conveying line, used for conveying the raw materials of the photovoltaic frame;

[0007] A moving arm assembly, comprising a first moving arm and a second moving arm; the first moving arm is opposite to the first end of the raw material, and the second moving arm is opposite to the second end of the raw material;

[0008] A gripper assembly, comprising a first material gripper located on the first moving arm and a second material gripper located on the second moving arm, wherein the two material grippers are respectively provided with a visual camera and a gear inserting assembly; the visual camera can take pictures to obtain the cross-sectional cavity posture of the raw material; the gear inserting assembly comprises a gear inserting part and a gear inserting motor connected to the gear inserting part, wherein the gear inserting motor can control the rotation of the gear inserting part according to the cross-sectional cavity posture of the raw material, so that the gear inserting part can be inserted into the cross-sectional cavity of the raw material;

[0009] The two movable arms can drive the corresponding material grippers to move synchronously, so that the two tooth inserting members extend into the cross-sectional cavity of the same raw material, and then the raw material is placed on the material conveying line through the two tooth inserting members.

[0010] Furthermore, the material conveying line includes a material conveying frame and a plurality of mutually parallel material conveying belts located on the material conveying frame, the conveying direction of the material conveying belts is perpendicular to the length direction of the raw material, and the plurality of material conveying belts are arranged at intervals along the length direction of the raw material.

[0011] Furthermore, the material conveyor line also includes a transition conveyor belt and a lifting roller located on both sides of the starting end of each material conveyor belt. The transmission direction of the transition conveyor belt is consistent with the transmission direction of the material conveyor belt. The transition conveyor belt is used to receive the raw materials released by two material grippers, and the multiple lifting rollers are used to lift the same raw material and move it along the transmission direction perpendicular to the transition conveyor belt.

[0012] Furthermore, the material conveying line also includes a positioning reference edge located on one side of the plurality of material conveying belts, and the plurality of lifting rollers can move the same raw material so that one end of the raw material abuts against the positioning reference edge.

[0013] Further, the first material gripper and the second material gripper respectively include a variable distance assembly, the variable distance assembly includes a variable distance frame and a variable distance block assembly and a driving assembly arranged on the variable distance frame, and the variable distance frame is connected to the corresponding moving arm;

[0014] The pitch-changing block assembly comprises a first pitch-changing block and a second pitch-changing block. The driving assembly is connected to the two pitch-changing blocks and is used to drive the two pitch-changing blocks to move closer to or away from each other. The first pitch-changing block and the second pitch-changing block are each connected with a toothing assembly.

[0015] Furthermore, the material gripper also includes a distance sensor, and the distance sensor is arranged on the variable distance frame.

[0016] Furthermore, the first pitch changing block and the second pitch changing block are respectively provided with a guide rail, a slider slidably connected to the guide rail, and a propulsion cylinder driving the slider to move along the guide rail, the extension direction of the guide rail is perpendicular to the movement direction of the two pitch changing sliders, the gear motor of the gear inserting assembly is connected to the slider, the propulsion cylinder is fixed on the corresponding pitch changing block, and the piston rod of the propulsion cylinder is connected to the slider to drive the slider to move along the guide rail.

[0017] Furthermore, the first material gripper and the second material gripper respectively include a gear frame connected to the gear-splitting motor and the slider, the gear-splitting motor is connected to the gear-splitting member through a transmission mechanism, the gear-splitting member is rotatably arranged on the gear frame, and the transmission mechanism includes a driving gear and a driven gear meshing with each other, the driving gear is connected to the motor shaft of the gear-splitting motor, and the driven gear is connected to the gear-splitting member.

[0018] Furthermore, the visual camera is fixed on one of the variable distance blocks.

[0019] Further, the first movable arm and the second movable arm respectively include an X-axis module frame, a Y-axis module frame and a Z-axis module frame which are vertically arranged in sequence and slidably connected, the Y-axis module frame is vertically arranged, and the gripper assembly is slidably arranged on the Z-axis module frame;

[0020] The feeding system further comprises a ground rail arranged on the ground, the extension direction of the ground rail is consistent with the length direction of the raw material, and the Y-axis module frame is slidably arranged on the ground rail.

[0021] Compared with the prior art, the beneficial effects of the embodiments of the utility model are:

[0022] The feeding system of the photovoltaic frame raw materials of the utility model can use the visual camera on the gripper assembly to obtain the placement posture of the raw materials, and then rotate the gear inserting part in the gear inserting assembly so that the gear inserting part can be inserted into the cross-sectional cavity of the raw materials, and then place the raw materials on the material conveyor line through the moving arm assembly. The feeding system can save feeding time, improve feeding efficiency, save labor costs, and reduce the number of personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In the drawings, which are not necessarily drawn to scale, the same reference numerals may describe similar components in different views. The drawings generally illustrate various embodiments by way of example and not limitation, and together with the specification and claims, are used to illustrate the embodiments of the utility model. When appropriate, the same reference numerals are used throughout the drawings to refer to the same or similar parts.

[0024] Figure 1 This is a three-dimensional structural schematic diagram of a feeding system for raw materials of a photovoltaic frame according to an embodiment of the utility model;

[0025] Figure 2 It is a schematic diagram of the three-dimensional structure of the gripper assembly of an embodiment of the utility model from a first viewing angle;

[0026] Figure 3 It is a schematic diagram of the three-dimensional structure of the gripper assembly of the embodiment of the utility model from a second viewing angle;

[0027] Figure 4 It is a partial structural schematic diagram of the material transmission line of an embodiment of the utility model.

[0028] In the figure: 1. Material car; 2. Material conveying line; 21. Transition conveyor belt; 22. Material conveyor belt; 23. Lifting roller; 24. Positioning reference edge; 25. Material conveying frame; 3. Moving arm assembly; 31. First moving arm; 311. X-axis module frame; 312. Y-axis module frame; 313. Z-axis module frame; 32. Second moving arm; 4. Gripper assembly; 41. First material gripper; 410. Variable pitch assembly; 41 00. Drive assembly; 4101. Pitch change frame; 4102. First pitch change block; 4103. Second pitch change block; 4104. Guide rail; 411. Distance sensor; 412. Gear shaping assembly; 4120. Gear shaping part; 4121. Gear shaping motor; 4122. Transmission mechanism; 4123. Gear shaping frame; 413. Visual camera; 414. Slider; 415. Propulsion cylinder; 42. Second material gripper; 5. Raw materials. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solution and advantages of the embodiment of the utility model clearer, the technical solution of the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings of the embodiment of the utility model. Obviously, the described embodiment is a part of the embodiment of the utility model, not all of the embodiments. Based on the described embodiment of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0030] Unless otherwise defined, the technical terms or scientific terms used in the present invention shall have the usual meanings understood by persons with ordinary skills in the field to which the present invention belongs. The words "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Words such as "include" or "comprise" and the like mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Words such as "connect" or "connected" and the like are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0031] In order to keep the following description of the embodiments of the present invention clear and concise, the present invention omits detailed descriptions of known functions and known components.

[0032] like Figures 1 to 3 As shown, an embodiment of the utility model provides a feeding system for raw materials of a photovoltaic frame, and the feeding system mainly includes a material vehicle 1, a material conveying line 2, a movable arm assembly 3 and a gripper assembly 4.

[0033] The material conveying line 2 is used to convey the raw materials 5 of the photovoltaic frame. The material vehicle 1 holds the raw materials 5 of the photovoltaic frame and can be moved to one side of the material conveying line 2 .

[0034] The moving arm assembly 3 is located at one side of the material conveying line 2 and includes a first moving arm 31 and a second moving arm 32. The first moving arm 31 is opposite to the first end of the raw material 5 on the material vehicle 1, and the second moving arm 32 is opposite to the second end of the raw material 5.

[0035] The gripper assembly 4 includes a first material gripper 41 located on the first moving arm 31 and a second material gripper 42 located on the second moving arm 32 .

[0036] The two material grippers are respectively provided with a visual camera 413 and a tooth inserting assembly 412. The visual camera 413 can take pictures to obtain the cross-sectional cavity posture of the raw material 5.

[0037] The gear inserting assembly 412 includes a gear inserting member 4120 and a gear inserting motor 4121 connected to the gear inserting member 4120. The gear inserting motor 4121 can control the gear inserting member 4120 to rotate according to the cross-sectional cavity posture of the raw material 5 obtained by the visual camera 413, so that the gear inserting member 4120 can be inserted into the cross-sectional cavity of the raw material 5. The shape of the gear inserting member 4120 is adapted to the cross-sectional cavity shape of the raw material 5.

[0038] Furthermore, the movable arms in the movable arm assemblies 3 located at both ends of the material cart 1 can drive the corresponding material grippers to move synchronously, so that the two opposite gear inserting parts 4120 on the two material grippers extend into the cross-sectional cavities at both ends of the same raw material 5, and then the grabbed raw materials 5 are placed on the material conveying line 2 through the two gear inserting parts 4120 for transportation.

[0039] The feeding system for the photovoltaic frame raw materials of this embodiment can utilize the visual camera 413 on the gripper assembly 4 to obtain the placement posture of the raw material 5, and then rotate the gear inserting part 4120 in the gear inserting assembly 412 so that the gear inserting part 4120 can be inserted into the cross-sectional cavity of the raw material 5, and then place the raw material 5 on the material conveying line 2 through the movable arm assembly 3. This feeding system can save feeding time, improve feeding efficiency, save personnel costs, and reduce the number of personnel.

[0040] In some embodiments, the control system of the loading system is electrically connected to the visual camera 413, the gear inserting drive and the two moving arms respectively. The visual camera 413 can use an existing camera with identification and positioning functions, and can identify and locate the specific position of the raw material 5 by taking photos of the end of the raw material 5 piled on the material vehicle 1. The control system can control the movement of the two moving arms and the rotation of the gear inserting member 4120 according to the image taken by the visual camera 413, so as to realize the grabbing of the raw material 5 and improve the loading efficiency.

[0041] like Figure 1 and Figure 4 As shown, the raw material 5 of the photovoltaic frame is usually in the shape of a long strip. Therefore, in order to facilitate the transportation of the raw material 5, in some embodiments, the material conveying line 2 includes a material conveying frame 25 and a plurality of mutually parallel material conveying belts 22 located on the material conveying frame 25.

[0042] The conveying direction of the material conveyor belt 22 is perpendicular to the length direction of the raw material 5, and a plurality of material conveyor belts 22 are arranged at intervals along the length direction of the raw material 5. By using a plurality of material conveyor belts 22 to support and convey the raw material 5, the stability of the raw material 5 during the conveying process can be ensured.

[0043] In some embodiments, the material conveying line 2 further includes a transition conveying belt 21 and a lifting roller 23 located on both sides of the starting end of each material conveying belt 22. The transition conveying belt 21 and the lifting roller 23 are also respectively arranged on the material conveying frame 25.

[0044] The transmission direction of the transition conveyor belt 21 is consistent with that of the material conveyor belt 22 , and the transition conveyor belt 21 and the material conveyor belt 22 are coplanar. In the direction perpendicular to the material conveyor belt 22 , part of the transition conveyor belt 21 overlaps with the material conveyor belt 22 .

[0045] The transition conveyor belt 21 is used to receive the raw materials 5 released by the material grippers on the two movable arm assemblies 3 , and then transport them to the material conveyor belt 22 , and then transport them away through the material conveyor belt 22 .

[0046] Preferably, the multiple lifting rollers 23 respectively include a roller body (not shown in the figure) and a lifting cylinder (not shown in the figure) located below the roller body. The axial direction of the roller body is consistent with the transmission direction on the material conveyor belt 22, and the roller body is located below the transition conveyor belt 21.

[0047] When the raw material 5 is placed on multiple transition conveyor belts 21, if the raw material 5 is positioned to the right or left, the lifting cylinders can be driven simultaneously to lift multiple roller bodies, and then the roller bodies can be rotated to lift the raw material 5 and move the raw material 5 in a direction perpendicular to the transition conveyor belts 21 to adjust the raw material 5.

[0048] In some embodiments, the material conveying line 2 also includes a positioning reference edge 24 located on one side of the multiple material conveying belts 22, and the positioning reference edge 24 is set on the material conveying frame 25. The multiple lifting rollers 23 can move the same raw material 5 so that one end of the raw material 5 is against the positioning reference edge 24, thereby preparing for positioning for subsequent processing.

[0049] like Figure 2 and Figure 3 As shown, in some embodiments, the first material gripper 41 and the second material gripper 42 respectively include a variable distance assembly 410, and the variable distance assembly 410 includes a variable distance frame 4101 and a variable distance block assembly and a driving assembly 4100 arranged on the variable distance frame 4101. The variable distance frame 4101 is connected to a corresponding moving arm, and the moving arm can drive the entire variable distance assembly 410 to move relative to the material vehicle 1.

[0050] The variable distance block assembly includes a first variable distance block 4102 and a second variable distance block 4103. The driving assembly 4100 can be connected to the two variable distance blocks through a screw mechanism to drive the two variable distance blocks to move closer to or apart from each other. The moving direction of the two variable distance blocks is perpendicular to the length direction of the raw material 5.

[0051] The first variable distance block 4102 and the second variable distance block 4103 are respectively connected to a toothing assembly 412. The toothing member 4120 in each toothing assembly 412 can be respectively extended into a raw material 5. In this way, the material grippers on the two movable arms can grab two raw materials 5 at the same time, thereby improving work efficiency.

[0052] In some embodiments, the material gripper further includes a distance sensor 411 , which is disposed on the distance variable frame 4101 .

[0053] The distance sensor 411 can be electrically connected to the control system of the feeding system. The distance sensor 411 is used to measure the distance between the gear inserting assembly 412 or the pitch changing assembly 410 and the end of the raw material 5, and feed it back to the control system of the feeding system, and then the control system controls the two moving arms to move to the corresponding positions.

[0054] like Figure 2 and Figure 3 As shown, in some embodiments, a guide rail 4104 , a slider 414 slidably connected to the guide rail 4104 , and a propulsion cylinder 415 for driving the slider 414 to move along the guide rail 4104 are provided at the bottom of the first variable distance block 4102 and the second variable distance block 4103 .

[0055] The propulsion cylinder 415 is fixed on the corresponding variable pitch block, and the piston rod of the propulsion cylinder 415 is connected to the slider 414 to drive the slider 414 to move along the guide rail 4104. The extension direction of the guide rail 4104 is perpendicular to the moving direction of the two variable pitch sliders 414.

[0056] Furthermore, the gear-slotting motor 4121 of the gear-slotting assembly 412 is connected to the slider 414 , and the thrust cylinder 415 controls the movement of the slider 414 , thereby enabling the gear-slotting member 4120 to extend into or move out of the cross-sectional cavity of the raw material 5 .

[0057] When the first movable arm 31 or the second movable arm 32 moves to a specified position close to the end of the raw material 5 , the gear inserting assembly 412 can be controlled to continue to move by the thrust cylinder 415 so that the gear inserting member 4120 in the gear inserting assembly 412 is inserted into the cross-sectional cavity of the raw material 5 .

[0058] like Figure 2 and Figure 3 As shown, in some embodiments, the first material gripper 41 and the second material gripper 42 respectively include a gear rack 4123 connected to a gear motor 4121 and a slider 414, the gear motor 4121 can be fixed on the gear rack 4123, the gear rack 4123 is connected to the slider 414, and the gear member 4120 is rotatably arranged on the gear rack 4123.

[0059] The gear-splitting motor 4121 in the gear-splitting assembly 412 is connected to the gear-splitting part 4120 through a transmission mechanism 4122. In some embodiments, the transmission mechanism 4122 is a gear transmission mechanism, which mainly includes a driving gear (not shown in the figure) and a driven gear (not shown in the figure) that are meshed with each other. The driving gear is connected to the motor shaft of the gear-splitting motor 4121, and the driven gear is connected to the gear-splitting part 4120. The gear transmission structure can reduce the speed of the motor shaft of the gear-splitting motor 4121 to facilitate the control of the rotation of the gear-splitting part 4120.

[0060] In some embodiments, the visual camera 413 of the gripper assembly 4 is fixed on one of the variable distance blocks.

[0061] like Figure 1 As shown, in some embodiments, the first movable arm 31 and the second movable arm 32 respectively include an X-axis module frame 311, a Y-axis module frame 312 and a Z-axis module frame 313 which are vertically arranged and slidably connected in sequence. The Y-axis module frame 312 is vertically arranged, and the variable pitch frame 4101 in the material gripper is slidably arranged on the Z-axis module frame 313.

[0062] The loading system also includes a ground rail set on the ground, the length direction of the ground rail is parallel to the length direction of the raw material 5, and the Y-axis module frame 312 is slidably set on the ground rail. By controlling the movement of the Y-axis module frame 312, the entire mobile arm can be close to the end of the raw material 5 or away from the end of the raw material 5.

[0063] The Y-axis module frame 312 may be provided with a Y-axis driving assembly 4100 for controlling the X-axis module frame 311 to move along the Y-axis module frame 312 , the X-axis module frame 311 may be provided with an X-axis driving assembly 4100 for controlling the Z-axis module frame 313 to move along the X-axis module frame 311 , and the Z-axis module frame 313 may be provided with a Z-axis driving assembly 4100 for controlling the material gripper to move along the Z-axis module frame 313 .

[0064] It is easy to know that the specific structures of the X-axis module frame 311, the Y-axis module frame 312 and the Z-axis module frame 313 belong to the existing technology and will not be described in detail.

[0065] The above description is intended to be illustrative rather than restrictive, and those skilled in the art may make changes, modifications, substitutions and variations to the above embodiments within the scope of the present disclosure. Moreover, the above examples (or one or more of them) may be used in combination with each other, and it is contemplated that these embodiments may be combined with each other in various combinations or permutations.

Claims

1. A material feeding system for photovoltaic frame raw materials, comprising a material vehicle for holding photovoltaic frame raw materials, characterized in that: The feeding system also includes: A material conveying line, used for conveying the raw materials of the photovoltaic frame; A moving arm assembly, comprising a first moving arm and a second moving arm; the first moving arm is opposite to the first end of the raw material, and the second moving arm is opposite to the second end of the raw material; A gripper assembly, comprising a first material gripper located on the first moving arm and a second material gripper located on the second moving arm, wherein the two material grippers are respectively provided with a visual camera and a gear inserting assembly; the visual camera can take pictures to obtain the cross-sectional cavity posture of the raw material; the gear inserting assembly comprises a gear inserting part and a gear inserting motor connected to the gear inserting part, wherein the gear inserting motor can control the rotation of the gear inserting part according to the cross-sectional cavity posture of the raw material, so that the gear inserting part can be inserted into the cross-sectional cavity of the raw material; The two movable arms can drive the corresponding material grippers to move synchronously, so that the two tooth inserting members extend into the cross-sectional cavity of the same raw material, and then the raw material is placed on the material conveying line through the two tooth inserting members.

2. The photovoltaic frame raw material feeding system according to claim 1, characterized in that: The material conveying line includes a material conveying frame and a plurality of mutually parallel material conveying belts located on the material conveying frame. The conveying direction of the material conveying belt is perpendicular to the length direction of the raw material. The plurality of material conveying belts are arranged at intervals along the length direction of the raw material.

3. The photovoltaic frame raw material feeding system according to claim 2, characterized in that: The material conveyor line also includes a transition conveyor belt and a lifting roller located on both sides of the starting end of each material conveyor belt. The transmission direction of the transition conveyor belt is consistent with the transmission direction of the material conveyor belt. The transition conveyor belt is used to receive the raw materials released by two material grippers. The multiple lifting rollers are used to lift the same raw material and move it along the transmission direction perpendicular to the transition conveyor belt.

4. The photovoltaic frame raw material feeding system according to claim 3, characterized in that: The material conveying line also includes a positioning reference edge located on one side of the plurality of material conveying belts, and the plurality of lifting rollers can move the same raw material so that one end of the raw material abuts against the positioning reference edge.

5. The photovoltaic frame raw material feeding system according to claim 1, characterized in that: The first material gripper and the second material gripper respectively include a variable distance assembly, wherein the variable distance assembly includes a variable distance frame, a variable distance block assembly and a driving assembly arranged on the variable distance frame, and the variable distance frame is connected to the corresponding moving arm; The pitch-changing block assembly comprises a first pitch-changing block and a second pitch-changing block. The driving assembly is connected to the two pitch-changing blocks and is used to drive the two pitch-changing blocks to move closer to or away from each other. The first pitch-changing block and the second pitch-changing block are each connected with a toothing assembly.

6. The photovoltaic frame raw material feeding system according to claim 5, characterized in that: The material gripper also includes a distance sensor, and the distance sensor is arranged on the distance variable frame.

7. The photovoltaic frame raw material feeding system according to claim 5, characterized in that: The first pitch-changing block and the second pitch-changing block are respectively provided with guide rails, sliders slidably connected to the guide rails, and propulsion cylinders driving the sliders to move along the guide rails. The extension direction of the guide rails is perpendicular to the movement direction of the two pitch-changing sliders. The gear-slotting motor of the gear-slotting assembly is connected to the sliders. The propulsion cylinder is fixed to the corresponding pitch-changing block. The piston rod of the propulsion cylinder is connected to the sliders to drive the sliders to move along the guide rails.

8. The photovoltaic frame raw material feeding system according to claim 7, characterized in that: The first material gripper and the second material gripper respectively include a gear frame connected to the gear motor and the slider, the gear motor is connected to the gear part through a transmission mechanism, the gear part is rotatably arranged on the gear frame, and the transmission mechanism includes a driving gear and a driven gear meshing with each other, the driving gear is connected to the motor shaft of the gear motor, and the driven gear is connected to the gear part.

9. The photovoltaic frame raw material feeding system according to claim 5, characterized in that: The visual camera is fixed on one of the variable distance blocks.

10. The photovoltaic frame raw material feeding system according to claim 1, characterized in that: The first movable arm and the second movable arm respectively include an X-axis module frame, a Y-axis module frame and a Z-axis module frame which are vertically arranged and slidably connected in sequence, the Y-axis module frame is vertically arranged, and the gripper assembly is slidably arranged on the Z-axis module frame; The feeding system further comprises a ground rail arranged on the ground, the extension direction of the ground rail is consistent with the length direction of the raw material, and the Y-axis module frame is slidably arranged on the ground rail.

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