Dynamic box loading and unloading manipulator

Abstract

The utility model discloses a dynamic box loading and unloading manipulator which comprises a support frame, a walking cart, a first driving mechanism, a walking trolley, a second driving mechanism and a clamping mechanism, the supporting frame is arranged above the ground rail line in a crossing mode. The walking cart is installed on the supporting frame. The first driving mechanism is used for driving the walking cart to move left and right relative to the supporting frame. The walking trolley is mounted on the walking cart; the second driving mechanism is used for driving the walking trolley to move back and forth relative to the walking cart; the clamping mechanism is installed on the walking trolley and used for clamping a workpiece on a mold trolley moving along a ground rail line. And the controller is used for controlling the walking trolley to synchronously move along with the mold trolley when the workpiece is clamped. The ground rail line does not need to be stopped during box loading and taking, so that efficiency is improved, frequent starting and stopping impact of the ground rail line is reduced, and the service life of equipment is prolonged.

Description

Technical Field

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

[0002] With the annual increase in labor costs and the increasingly strict requirements of factories for high automation levels, more and more automated professional equipment has been taken seriously by major refrigeration equipment manufacturers.

[0003] At present, box loading and unloading manipulators are mostly used in the refrigerator foaming process. When loading boxes, the manipulator transports the empty boxes that have not been foamed and buckles them on the foaming mold. After the empty boxes are filled with foaming agent, the empty box bodies become solid boxes. The solid boxes enter the drying tunnel for heating and curing. After the curing is completed, the box unloading manipulator transports the finished products to other lines for transportation.

[0004] However, the existing manipulators lack a follow-up trolley mechanism. When loading and unloading boxes, the ground rail line needs to be shut down, which affects the rhythm of the entire production line. Frequent start and stop cause a large impact on the ground rail line.

[0005] The existing manipulators cannot cope with the swing and position deviation caused by the error of the mold trolley on the ground rail line, which easily causes scratches on the refrigerator cabinet opening and inner liner, affecting the product qualification rate. Content of the Utility Model

[0006] Aiming at the defects in the prior art, the utility model provides a dynamic box loading and unloading manipulator, so that the ground rail line does not need to stop when loading and unloading boxes, thereby improving efficiency, reducing the frequent start and stop impact on the ground rail line, and extending the service life of the equipment.

[0007] The utility model provides a dynamic box loading and unloading manipulator, including:

[0008] A support frame, which is horizontally arranged above the ground rail line;

[0009] A traveling carriage, which is installed on the support frame;

[0010] A first driving mechanism, which is used to drive the traveling carriage to move left and right relative to the support frame;

[0011] A traveling trolley, which is installed on the traveling carriage;

[0012] A second driving mechanism, which is used to drive the traveling trolley to move back and forth relative to the traveling carriage;

[0013] A clamping mechanism, which is installed on the traveling trolley and is used to clamp the workpieces on the mold trolley moving along the ground rail line;

[0014] And a controller, wherein the controller is used to control the walking trolley to move synchronously with the mold trolley when clamping the workpiece.

[0015] Furthermore, the support frame adopts a gantry frame, and two first guide rails are arranged on the gantry frame along the left and right directions, and the walking trolley is installed on the first guide rails;

[0016] The first driving mechanism includes two first racks respectively installed along the two first guide rails, a first motor fixed on the traveling trolley, two transmission rods rotatably installed on both sides of the first motor and respectively connected to the output shaft of the first motor, and two first gears coaxially fixed on the outer ends of the two transmission rods and respectively meshing with the corresponding first racks.

[0017] Furthermore, two second guide rails are arranged on the traveling trolley along the front-rear direction, and the traveling trolley is installed on the second guide rails;

[0018] The second driving mechanism includes a first lead screw with both ends rotatably mounted on a support of the traveling trolley, a first threaded sleeve threadedly connected to the first lead screw and fixed on the traveling trolley, and a second motor for driving the first lead screw to rotate.

[0019] Furthermore, the clamping mechanism comprises:

[0020] A lifting frame, the lifting frame is installed on the walking trolley;

[0021] A third driving mechanism, the third driving mechanism is used to drive the lifting frame to rise and fall relative to the walking trolley;

[0022] A fixture, the fixture being rotatably mounted on the lower end of the lifting frame;

[0023] A fourth driving mechanism is used to drive the clamp to rotate horizontally relative to the lifting frame.

[0024] Furthermore, a third guide rail is vertically arranged on the outer edge of the lifting frame, and the lifting frame passes through the traveling trolley and is slidably connected with the traveling trolley through the third guide rail;

[0025] The third driving mechanism includes a second rack fixed vertically on the lifting frame, a third motor fixedly mounted on the traveling trolley, and a second gear coaxially fixed on the output shaft of the third motor and meshing with the second rack;

[0026] A gas pressure rod is provided on the side of the traveling trolley opposite to the second rack, and a telescopic shaft of the gas pressure rod extends downward and is fixed to the lower part of the lifting frame.

[0027] Further, a rotating disk is rotatably provided at the lower end of the lifting frame, and the fixture is fixed to the lower side of the rotating disk;

[0028] The fourth driving mechanism includes a fourth motor fixedly installed outside the lifting frame, a third gear coaxially fixed to the output shaft of the fourth motor, and a fourth gear coaxially located outside the rotating disk and meshing with the third gear.

[0029] Further, the fixture includes a cross beam, two clamping arms installed on the lower side of the cross beam, and a fifth driving mechanism for driving the two clamping arms to open and close;

[0030] The cross beam is fixed to the lower end of the lifting frame through a free movement mechanism, and the free movement mechanism has degrees of freedom of moving forward and backward, moving left and right, or moving forward, backward, left, and right.

[0031] Further, the free movement mechanism has degrees of freedom of moving forward, backward, left, and right, and includes:

[0032] A fourth guide rail, which is provided on the cross beam. A first sliding plate is installed on the fourth guide rail, and a fifth guide rail is installed on the first sliding plate;

[0033] A fifth guide rail, which is provided on the first sliding plate. A second sliding plate is installed on the fifth guide rail, and the second sliding plate is installed at the lower end of the lifting frame;

[0034] One of the fourth guide rail and the fifth guide rail extends in the front-back direction, and the other extends in the left-right direction. Two first locking cylinders are installed on the cross beam and arranged facing each other and extending along the direction of the fourth guide rail. The telescopic shafts of the two first locking cylinders can respectively abut against the first sliding plate. Two second locking cylinders are also installed on the cross beam and arranged facing each other and extending along the direction of the fifth guide rail. The telescopic shafts of the two second locking cylinders can respectively abut against the second sliding plate.

[0035] Further, buffer blocks are provided at the end parts of the output shafts of the first locking cylinder and the second locking cylinder.

[0036] Further, a sixth guide rail is provided on the lower side of the cross beam, and the two clamping arms are respectively installed on the sixth guide rail;

[0037] The fifth driving mechanism includes a second lead screw rotatably installed on the lower side of the cross beam, two second threaded sleeves respectively installed on the two clamping arms and threadedly connected to the second lead screw, and a fifth motor for driving the second lead screw to rotate. The thread directions of the connection parts of the second lead screw and the two second threaded sleeves are opposite.

[0038] The beneficial effects of the present utility model are embodied in:

[0039] In this application, a support frame is provided above the ground rail line. A traveling crane that can move left and right is installed on the support frame, and a traveling trolley that can move back and forth is installed on the traveling crane. The traveling trolley can move synchronously with the mold car on the ground rail line under the control of a PLC, enabling the clamping mechanism to move synchronously with the mold car when loading and unloading boxes. There is no need to stop the ground rail line, which improves efficiency, reduces the frequent start-stop impact on the ground rail line, and extends the service life of the equipment. Brief Description of the Drawings

[0040] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0041] Figure 1 Schematic diagram of the overall structure of an embodiment of the present invention;

[0042] Figure 2 Schematic diagram of the drive of the traveling crane in an embodiment of the present invention;

[0043] Figure 3 Schematic diagram of the drive of the traveling trolley in an embodiment of the present invention;

[0044] Figure 4 Schematic diagram of the structure of the clamping mechanism in an embodiment of the present invention;

[0045] Figure 5 For Figure 4 the enlarged view of part A in

[0046] Figure 6 For Figure 4 the enlarged view of part B in

[0047] Figure 7 Schematic diagram of the structure of the fixture from one perspective in an embodiment of the present invention;

[0048] Figure 8 Schematic diagram of the structure of the fixture from another perspective in an embodiment of the present invention.

[0049] In the attached drawings, 100 - support frame; 110 - first guide rail; 200 - traveling gantry; 210 - second guide rail; 300 - first driving mechanism; 310 - first rack; 320 - first motor; 330 - transmission rod; 340 - first gear; 400 - traveling trolley; 500 - second driving mechanism; 510 - first lead screw; 520 - first threaded sleeve; 530 - second motor; 600 - gripping mechanism; 610 - lifting frame; 611 - third guide rail; 620 - third driving mechanism; 621 - second rack; 622 - third motor; 623 - second gear; 624 - pneumatic rod; 630 - fixture; 631 - cross beam; 6311 - fourth guide rail; 6312 - first slide plate; 6313 - fifth guide rail; 6314 - second slide plate; 6315 - first locking cylinder; 6316 - second locking cylinder; 6317 - sixth guide rail; 632 - clamping arm; 633 - fifth driving mechanism; 6331 - second lead screw; 6332 - second threaded sleeve; 6333 - fifth motor; 640 - fourth driving mechanism; 641 - fourth motor; 642 - third gear; 643 - fourth gear. Detailed implementation manners

[0050] Hereinafter, embodiments of the technical solution of the present utility model will be described in detail with reference to the attached drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present utility model, and thus are only examples and cannot be used to limit the protection scope of the present utility model.

[0051] It should be noted that unless otherwise specified, the technical terms or scientific terms used in this application should have the ordinary meaning understood by those skilled in the art to which the present utility model belongs.

[0052] As Figures 1 - 8 shown, the embodiment of the present utility model provides a dynamic box loading and unloading manipulator, including a support frame 100, a traveling gantry 200, a first driving mechanism 300, a traveling trolley 400, a second driving mechanism 500, and a gripping mechanism 600.

[0053] Referring to Figure 1 , the support frame 100 is horizontally arranged above the ground rail line, the traveling gantry 200 is installed on the support frame 100, and the first driving mechanism 300 is used to drive the traveling gantry 200 to move left and right relative to the support frame 100.

[0054] Specifically, referring to Figure 2The support frame 100 adopts a gantry frame, and two first guide rails 110 are arranged on the gantry frame in the left and right directions, and the traveling trolley 200 is installed on the first guide rails 110. The first driving mechanism 300 includes two first racks 310 respectively installed along the two first guide rails 110, a first motor 320 fixed on the traveling trolley 200, two transmission rods 330 rotatably installed on both sides of the first motor 320 and respectively connected to the output shaft of the first motor 320, and two first gears 340 respectively coaxially fixed to the outer ends of the two transmission rods 330 and respectively meshing with the corresponding first racks 310.

[0055] In this embodiment, the first motor 320 can drive the first gears 340 on both sides to rotate, and under the action of the first gear 340 and the first rack 310, the traveling vehicle 200 can be driven to move left and right.

[0056] The traveling trolley 400 is installed on the traveling trolley 200 , and the second driving mechanism 500 is used to drive the traveling trolley 400 to move forward and backward relative to the traveling trolley 200 .

[0057] Specifically, refer to Figure 3 Two second guide rails 210 are arranged on the traveling trolley 200 along the front-rear direction, and the traveling trolley 400 is mounted on the second guide rails 210. The second driving mechanism 500 includes a first lead screw 510 whose two ends are respectively rotatably mounted on the support of the traveling trolley 200, a first threaded sleeve 520 threadedly connected to the first lead screw 510 and fixed on the traveling trolley 400, and a second motor 530 for driving the first lead screw 510 to rotate.

[0058] In this embodiment, the second motor 530 can drive the first lead screw 510 to rotate, and under the action of the first lead screw 510 and the first threaded sleeve 520, the traveling trolley 400 can be driven to move left and right.

[0059] The clamping mechanism 600 is installed on the traveling trolley 400 and is used to clamp the workpiece on the mold vehicle moving along the ground track.

[0060] Reference Figures 3 - 7 The clamping mechanism 600 includes a lifting frame 610, a third driving mechanism 620, a clamp 630 and a fourth driving mechanism 640. The lifting frame 610 is installed on the traveling trolley 400, the third driving mechanism 620 is used to drive the lifting frame 610 to rise and fall relative to the traveling trolley 400, and the clamp 630 is rotatably installed at the lower end of the lifting frame 610. The fourth driving mechanism 640 is used to drive the clamp 630 to rotate horizontally relative to the lifting frame 610.

[0061] The fixture 630 can perform opening and closing movements. Meanwhile, it can drive the lifting frame 610 to move up and down through the third driving mechanism 620 to drive the fixture 630 to move up and down, and can also drive the fixture 630 to rotate through the fourth driving mechanism 640, so as to meet the movement requirements when the fixture 630 clamps the workpiece.

[0062] Specifically, referring to Figure 5 , a third guide rail 611 is vertically arranged on the outer edge of the lifting frame 610. The lifting frame 610 passes through the walking trolley 400 and is slidably connected to the walking trolley 400 through the third guide rail 611; the third driving mechanism 620 includes a second rack 621 fixedly arranged on the lifting frame 610 in the vertical direction, a third motor 622 fixedly installed on the walking trolley 400, and a second gear 623 coaxially fixed on the output shaft of the third motor 622 and meshing with the second rack 621; on one side of the walking trolley 400 opposite to the second rack 621, a pneumatic rod 624 is provided, and the telescopic shaft of the pneumatic rod 624 extends downward and is fixed to the lower part of the lifting frame 610.

[0063] In this embodiment, the third motor 622 can be driven to rotate the second gear 623, and under the action of the second gear 623 and the second rack 621, drive the lifting frame 610 to move up and down. The pneumatic rod 624 can play an auxiliary role in the lifting frame 610.

[0064] Specifically, referring to Figure 6 , a rotating disk is rotatably arranged at the lower end of the lifting frame 610, and the fixture 630 is fixed to the lower side of the rotating disk; the fourth driving mechanism 640 includes a fourth motor 641 fixedly installed outside the lifting frame 610, a third gear 642 coaxially fixed on the output shaft of the fourth motor 641, and a fourth gear 643 coaxially located outside the rotating disk and meshing with the third gear 642.

[0065] In this embodiment, the fourth motor 641 can be driven to rotate the third gear 642, and under the action of the third gear 642 and the fourth gear 643, drive the rotating disk, and further drive the fixture 630 connected to the rotating disk to rotate.

[0066] Referring to Figure 7 , the fixture 630 includes a cross beam 631, two clamping arms 632 installed on the lower side of the cross beam 631, and a fifth driving mechanism 633 for driving the two clamping arms 632 to open and close.

[0067] The cross beam 631 is fixed to the lower end of the lifting frame 610 through a free movement mechanism, and the free movement mechanism has degrees of freedom of moving forward and backward, moving left and right, or moving forward, backward, left and right.

[0068] Specifically, the free movement mechanism has degrees of freedom for moving forward and backward, left and right, and includes a fourth guide rail 6311 and a fifth guide rail 6313. The fourth guide rail 6311 is provided on the cross beam 631, and a first sliding plate 6312 is installed on the fourth guide rail 6311. The fifth guide rail 6313 is provided on the first sliding plate 6312, and a second sliding plate 6314 is installed on the fifth guide rail 6313. The second sliding plate 6314 is installed at the lower end of the lifting frame 610. One of the fourth guide rail 6311 and the fifth guide rail 6313 extends in the front-back direction, and the other extends in the left-right direction. Specifically, the fourth guide rail 6311 extends in the left-right direction, and the fifth guide rail 6313 extends in the front-back direction. Two first locking cylinders 6315 are installed on the cross beam 631 and arranged facing each other and extending along the direction of the fourth guide rail 6311. The telescopic shafts of the two first locking cylinders 6315 can respectively abut against the first sliding plate 6312. Two second locking cylinders 6316 are also installed on the cross beam 631 and arranged facing each other and extending along the direction of the fifth guide rail 6313. The telescopic shafts of the two second locking cylinders 6316 can respectively abut against the second sliding plate 6314.

[0069] When the two first locking cylinders 6315 retract, the cross beam 631 can move freely left and right along the direction of the fourth guide rail 6311. When the first locking cylinder 6315 extends and abuts against the first sliding plate 6312, the cross beam 631 is locked and cannot move left and right.

[0070] When the two second locking cylinders 6316 retract, the cross beam 631 can move freely back and forth along the direction of the fifth guide rail 6313. When the second locking cylinder 6316 extends and abuts against the second sliding plate 6314, the cross beam 631 is locked and cannot move back and forth.

[0071] In this embodiment, a freely movable structure is provided at the upper part of the fixture 630, enabling the fixture 630 to freely float slightly (the floating distance is about 20 mm) when loading and unloading the box. When the position of the picked-up box is inaccurate, the operation can still be completed without scratching the inner liner of the box and the cabinet opening. This solves the problems of deviation in grasping and wear of the box workpiece caused by the position error of the box to be picked up, improves the picking accuracy and fault tolerance rate of the manipulator, and reduces the failure shutdown rate of the supporting production line.

[0072] In this embodiment, buffer blocks are provided at the end parts of the output shafts of the first locking cylinder 6315 and the second locking cylinder 6316, and the buffer blocks can play a role in reducing impact and noise.

[0073] It should be noted that due to different working conditions, the free movement mechanism can be provided with only the degree of freedom for moving back and forth or the degree of freedom for moving left and right, that is, the free movement direction of the fixture 630 is one of the front-back or left-right directions.

[0074] Refer to Figure 7 and Figure 8, a sixth guide rail 6317 is provided on the lower side of the cross beam 631, and two clamping arms 632 are respectively installed on the sixth guide rail 6317; the fifth driving mechanism 633 includes a second lead screw 6331 rotatably installed on the lower side of the cross beam 631, two second threaded sleeves 6332 respectively installed on the two clamping arms 632 and threadedly connected to the second lead screw 6331, and a fifth motor 6333 for driving the second lead screw 6331 to rotate. The thread directions of the connection parts of the second lead screw 6331 and the two second threaded sleeves 6332 are opposite.

[0075] In this embodiment, the fifth motor 6333 can be used to drive the second lead screw 6331 to rotate, and under the action of the second lead screw 6331 and the second threaded sleeve 6332, the two clamping arms 632 are driven to perform opening and closing movements.

[0076] The controller is used to control the traveling trolley 400 to move synchronously with the die trolley when clamping the workpiece. The controller is a PLC controller, and can control the speed matching of the traveling trolley 400 and the ground rail line die trolley according to a predetermined program.

[0077] In this application, a support frame 100 is provided above the ground rail line. A traveling carriage 200 that can move left and right is installed on the support frame 100, and a traveling trolley 400 that can move back and forth is installed on the traveling carriage 200. The traveling trolley 400 can move synchronously with the die trolley on the ground rail line under the control of the PLC, so that the clamping mechanism 600 moves synchronously with the die trolley when loading and unloading the box, without stopping the ground rail line, improving the efficiency, reducing the frequent start-stop impact of the ground rail line, and extending the service life of the equipment.

[0078] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered by the scope of the claims and the description of the present invention.

Claims

1. A dynamic loading and unloading box manipulator, characterized in that, include: A support frame, the support frame is arranged across the top of the ground rail line; A traveling trolley, the traveling trolley being mounted on the supporting frame; A first driving mechanism, the first driving mechanism is used to drive the traveling trolley to move left and right relative to the supporting frame; A walking trolley, the walking trolley is installed on the walking trolley; A second driving mechanism, the second driving mechanism is used to drive the traveling trolley to move forward and backward relative to the traveling trolley; A clamping mechanism, which is installed on the walking trolley and is used to clamp the workpiece on the mold trolley moving along the ground track; And a controller, wherein the controller is used to control the walking trolley to move synchronously with the mold trolley when clamping the workpiece.

2. The dynamic box loading and unloading robot according to claim 1 is characterized in that: The support frame adopts a gantry frame, and two first guide rails are arranged on the gantry frame in the left and right directions, and the traveling trolley is installed on the first guide rails; The first driving mechanism includes two first racks respectively installed along the two first guide rails, a first motor fixed on the traveling trolley, two transmission rods rotatably installed on both sides of the first motor and respectively connected to the output shaft of the first motor, and two first gears coaxially fixed on the outer ends of the two transmission rods and respectively meshing with the corresponding first racks.

3. The dynamic box loading and unloading robot according to claim 1 is characterized in that: The traveling trolley is provided with two second guide rails along the front-rear direction, and the traveling trolley is installed on the second guide rails; The second driving mechanism includes a first lead screw with both ends rotatably mounted on a support of the traveling trolley, a first threaded sleeve threadedly connected to the first lead screw and fixed on the traveling trolley, and a second motor for driving the first lead screw to rotate.

4. The dynamic box loading and unloading robot according to claim 1 is characterized in that: The clamping mechanism comprises: A lifting frame, the lifting frame is installed on the walking trolley; A third driving mechanism, the third driving mechanism is used to drive the lifting frame to rise and fall relative to the walking trolley; A fixture, the fixture being rotatably mounted on the lower end of the lifting frame; A fourth driving mechanism is used to drive the clamp to rotate horizontally relative to the lifting frame.

5. The dynamic box loading and unloading robot according to claim 4 is characterized in that: A third guide rail is vertically arranged on the outer edge of the lifting frame, and the lifting frame passes through the traveling trolley and is slidably connected with the traveling trolley through the third guide rail; The third driving mechanism includes a second rack fixed vertically on the lifting frame, a third motor fixedly mounted on the traveling trolley, and a second gear coaxially fixed on the output shaft of the third motor and meshing with the second rack; A gas pressure rod is provided on the side of the traveling trolley opposite to the second rack, and a telescopic shaft of the gas pressure rod extends downward and is fixed to the lower part of the lifting frame.

6. The dynamic box loading and unloading robot according to claim 4 is characterized in that: A rotating disk is rotatably provided at the lower end of the lifting frame, and the clamp is fixed on the lower side of the rotating disk; The fourth driving mechanism includes a fourth motor fixedly installed outside the lifting frame, a third gear coaxially fixed on the output shaft of the fourth motor, and a fourth gear coaxially located outside the rotating disc and meshing with the third gear.

7. The dynamic box loading and unloading manipulator according to claim 4, wherein the fixture includes a cross beam, two clamping arms installed on the lower side of the cross beam, and a fifth driving mechanism for driving the two clamping arms to open and close; the cross beam is fixed to the lower end of the lifting frame through a free movement mechanism, and the free movement mechanism has degrees of freedom of forward and backward movement, left and right movement, or forward, backward, left and right movement.

8. The dynamic box loading and unloading manipulator according to claim 7, wherein the free movement mechanism has degrees of freedom of forward, backward, left and right movement, and includes: a fourth guide rail provided on the cross beam, a first sliding plate installed on the fourth guide rail, and a fifth guide rail installed on the first sliding plate; a fifth guide rail provided on the first sliding plate, a second sliding plate installed on the fifth guide rail, and the second sliding plate is installed at the lower end of the lifting frame; one of the fourth guide rail and the fifth guide rail extends in the front-back direction, and the other extends in the left-right direction. Two first locking cylinders are installed on the cross beam and arranged oppositely and extending along the direction of the fourth guide rail. The telescopic shafts of the two first locking cylinders can respectively abut against the first sliding plate. Two second locking cylinders are also installed on the cross beam and arranged oppositely and extending along the direction of the fifth guide rail. The telescopic shafts of the two second locking cylinders can respectively abut against the second sliding plate.

9. The dynamic box loading and unloading manipulator according to claim 8, wherein buffer blocks are provided at the ends of the output shafts of the first locking cylinder and the second locking cylinder.

10. The dynamic box loading and unloading manipulator according to claim 7, wherein a sixth guide rail is provided on the lower side of the cross beam, and the two clamping arms are respectively installed on the sixth guide rail; the fifth driving mechanism includes a second lead screw rotatably installed on the lower side of the cross beam, two second threaded sleeves respectively installed on the two clamping arms and threadedly connected to the second lead screw, and a fifth motor for driving the second lead screw to rotate. The thread directions of the connection parts of the second lead screw and the two second threaded sleeves are opposite.

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