Full-automatic assembling device for safety wheel assembly

Abstract

The utility model discloses a full-automatic assembling device for a safety wheel assembly. The full-automatic assembling device comprises a structural frame and a pressure cabin, the pressure cabin comprises a cabin body and a lower cover, after the wheel assembly to be assembled is placed on a working platform in the lower cover, the cabin body and the lower cover are closed to form a closed cabin body, a material storage tank, a pressing wheel and a mechanical arm are arranged in the cabin body, the material storage tank is communicated with a ball channel in the mechanical arm, an auxiliary air inlet valve is arranged on the material storage tank, and the auxiliary air inlet valve is communicated with the pressing wheel. A working platform and a rotary driving mechanism are installed in the lower cover, the rotary driving mechanism is connected with the working platform, and a lower positioning mechanism used for fixing a to-be-assembled wheel assembly hub from the lower portion is installed in the middle of the working platform. The whole filling process of the inflatable pressure ball body is fully automatically implemented in a pressure environment.

Description

Technical Field

[0001] The utility model relates to a wheel assembly, in particular to a full-automatic assembly device for a safety wheel assembly. Background Art

[0002] The existing safety wheel assembly is as Figure 13 shown, including a tire 16, a wheel hub 17 and an inflatable pressure sphere 9. The tire 16 is a tubeless tire, and the inflatable pressure sphere 9 is filled between the tire 16 and the wheel hub 17.

[0003] As Figure 13 shown, there are mainly three assembly methods for the existing safety wheel assembly (explosion-proof and puncture-proof wheel assembly):

[0004] The first one is to pre-place a certain chemical substance in the filled small sphere, then install the small sphere into the inflatable pressure cavity between the tire and the wheel hub. After that, install and heat the wheel assembly to make the chemical substance in the small sphere react to generate gas, and the small sphere expands under the action of the gas to fill the inflatable pressure cavity.

[0005] The second one is to install a feeding device on the wheel hub, and use high-pressure gas and the feeding device to blow the small sphere into the inflatable pressure cavity.

[0006] The third one is to implant several plastic hollow spheres with a diameter equal to the distance from the inner side of the tire to the wheel hub in the tire cavity, and inject a foaming filler between the spheres and then solidify to form a shape.

[0007] These assembly methods all have problems such as complex processes, high costs, only being able to be filled once, uncontrollable and difficult-to-adjust tire pressure, and there are also safety hazards such as the tire bearing pressure exceeding the safety pressure and the chemical substance being unstable during the filling process. Content of the Utility Model

[0008] The technical problem to be solved by the utility model is to provide a full-automatic assembly device for a safety wheel assembly with high reliability and safety in view of the deficiencies in the assembly of the existing safety wheel assembly.

[0009] To solve the above technical problem, the utility model adopts the following technical solutions:

[0010] A full-automatic assembly device for a safety wheel assembly, the wheel assembly includes a tire, a wheel hub and an inflatable pressure sphere, the tire is installed on the wheel hub, an inflatable pressure cavity is arranged between the tire and the wheel hub, and the inflatable pressure cavity is filled with inflatable pressure spheres, wherein:

[0011] The assembly device includes a structural frame and a pressure chamber for providing a pressure environment;

[0012] One side of the structural frame is provided with an inlet for the wheel assembly to be assembled, and the other side is provided with an outlet for the wheel assembly. The pressure chamber is installed inside the structural frame;

[0013] The pressure chamber includes a cabin body and a lower cover that are oppositely installed. The cabin body is fixedly installed on the upper part of the structural frame, and the lower cover is installed on the lower part of the structural frame through a jacking mechanism;

[0014] A storage tank, a material control mechanism, an upper positioning mechanism, a manipulator, and a pressing wheel are installed inside the cabin body. The storage tank is provided with a feed inlet, an auxiliary air inlet, and a material conveying pipe and an air inlet valve are installed. The material control mechanism is installed on the material conveying pipe. The upper positioning mechanism is centrally installed inside the cabin body. One side of the upper positioning mechanism is provided with the pressing wheel, and the other side is provided with the manipulator. A spherical channel is arranged inside the manipulator, and a hook-shaped body is arranged at the end of the manipulator. The upper end of the spherical channel is communicated with the material conveying pipe;

[0015] A working platform and a rotation driving mechanism are installed inside the lower cover. The rotation driving mechanism is connected to the working platform, and a lower positioning mechanism for fixing the hub of the wheel assembly to be assembled from below is installed in the middle of the working platform.

[0016] When the present utility model is in use, when the wheel assembly to be assembled is conveyed onto the working platform, the jacking mechanism jacks up the lower cover upwards, and the lower cover is hermetically connected to the cabin body to form a sealed cavity. The upper positioning mechanism and the lower positioning mechanism jointly lock the hub of the wheel assembly to be assembled on the working platform;

[0017] When filling the spheres, gas (this gas is the pressurized gas provided externally, and its air pressure is ≥ 2 - 3 times NP0) is filled into the pressure chamber, and the air pressure in the pressure chamber reaches 2 - 3 times NP0. The rotation driving mechanism drives the working platform to rotate, and the wheel assembly to be assembled rotates with the working platform. During the rotation of the wheel assembly to be assembled, the lower hook-shaped body of the manipulator extends into the inner side of the inner edge of the tire and hooks up the inner edge of the tire upwards, so that the spherical channel on the manipulator is communicated with the inflation pressure chamber. At the same time, the material control mechanism is opened, the auxiliary air inlet intakes air, and the pressure spheres are filled into the inflation pressure chamber through the material conveying pipe;

[0018] When the sphere filling is completed, the manipulator disengages from the inner side of the inner edge of the tire and presses down the outer side of the inner edge of the tire together with the pressing wheel, so that the inner edge of the tire is pressed into the outer edge of the hub.

[0019] Preferably, a safety valve and an exhaust valve are further installed on the cabin body.

[0020] Preferably, the bottom of the storage tank is set as a cone, and the material conveying pipe is installed at the bottom of the cone.

[0021] Preferably, an airtight mechanism for the feed inlet is provided at the feed inlet.

[0022] Preferably, the upper positioning mechanism is located on the axis of the pressure chamber.

[0023] Preferably, the fully automatic assembly device for the safety wheel assembly further includes a conveying mechanism, which is respectively arranged at the wheel assembly inlet and the wheel assembly outlet. When in the working state, the lifting mechanism contracts, and the working platform in the lower cover is flush with the conveying platform of the conveying mechanism.

[0024] Preferably, the fully automatic assembly device for the safety wheel assembly further includes a locking mechanism, which locks the cabin body and the lower cover together.

[0025] Preferably, the locking mechanism includes a locking drive mechanism and two locking arms. The locking arms are semi-circular, and the locking drive mechanism drives the locking arms to lock or unlock the cabin body and the lower cover.

[0026] Preferably, the material control mechanism includes a counting module to facilitate counting the spheres filled into the tire.

[0027] Preferably, a robotic arm assembly is installed in the cabin body, and the manipulator is installed on the robotic arm assembly.

[0028] The utility model builds a split pressure chamber. After placing the wheel assembly to be assembled on the working platform in the lower cover, the lower cover is connected and closed with the cabin body to form a pressure chamber. Then, the pressure chamber is inflated so that the internal air pressure reaches a predetermined air pressure of 2-3 times NP0, and the entire filling process of the inflatable pressure spheres in the tire is implemented in a pressure environment of 2-3 times NP0. The filling process depends entirely on the operation of the pressure wheel and the manipulator. Workers can monitor through the controller. A safety valve is provided on the pressure chamber, and the overall process has high safety performance. And the whole process can be realized by the control computer and the main controller to achieve full automation operation, which is safe, labor-saving and efficient. The tire pressure can be adjusted by adjusting the number of filled pressure balls and adapting to tires of multiple specifications. The inflatable pressure spheres of the safety wheel can also be refilled repeatedly.

[0029] In addition, the utility model can also adjust the pressure of the pressure chamber by adjusting the air intake volume, so as to adapt to the filling of the inflatable pressure spheres in the safety wheel assembly with different working pressure requirements. Description of the Drawings

[0030] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can also be obtained based on these drawings.

[0031] Figure 1 It is a schematic structural diagram of the fully automatic assembly device for the safety wheel assembly of the present invention.

[0032] Figure 2 It is a state diagram of the wheel assembly to be assembled entering the pressure chamber.

[0033] Figure 3 It is a state diagram of the pressure chamber being closed and pressurized, and the hub being positioned up and down.

[0034] Figure 4 It is a state diagram of the tire and hub being partially separated and the preparation work for feeding and filling.

[0035] Figure 5 It is a state diagram of the feeding work.

[0036] Figure 6 It is a state diagram of completing the sphere filling work.

[0037] Figure 7 It is a state diagram of the tire being installed into the hub.

[0038] Figure 8 It is a state diagram of the pressure chamber releasing pressure and the inflation pressure sphere expanding to fill the inner cavity of the tire.

[0039] Figure 9 It is a state diagram of the tire and hub being assembled in place.

[0040] Figure 10 It is a state diagram of completing the assembly of the safety wheel.

[0041] Figure 11 It is a schematic diagram of the working platform, the lower positioning mechanism and the locking mechanism.

[0042] Figure 12 It is a schematic diagram of the volume change of the inflation pressure sphere during the entire assembly process.

[0043] Figure 13 It is a schematic structural diagram of the safety wheel assembly.

[0044] In the figure: (1) Structural frame, (2) Intake valve, (3) Auxiliary intake valve, (4) Safety valve, (5) Exhaust valve, (6) Feed inlet, (7) Airtight mechanism for feed inlet, (8) Storage tank, (9) Inflatable pressure sphere, (10) Controller, (11) Material control mechanism, (12) Feed pipe, (13) Upper positioning mechanism, (14) Robotic arm assembly, (15) Manipulator, (16) Tire, (17) Wheel hub, (18) Lower positioning mechanism, (19) Wheel assembly to be assembled, (20) Conveyor mechanism, (21) Lower cover, (22) Lifting mechanism, (23) Rotary drive mechanism, (24) Finished wheel assembly, (25) Sealing ring, (26) Locking mechanism, (27) Working platform, (28) Cabin, (29) Pressing wheel, (30) Fixed flange of cabin, (181) Positioning pin, (261) Locking drive mechanism, (262) Locking arm. Detailed implementation manners

[0045] The following further describes the present utility model with reference to specific preferred embodiments, but does not limit the protection scope of the present utility model thereby.

[0046] In the description of the present utility model, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation to the present utility model. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0047] In the description of the present utility model, it should be noted that unless otherwise clearly specified and limited, the terms "installation", "connection", "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.

[0048] Please refer to Figure 13, the safety wheel assembly involved in the present utility model includes a tire 16, a wheel hub 17, and an inflation pressure sphere 9. The tire 16 is a tubeless tire, and the tire 16 is installed on the wheel hub 17. An inflation pressure chamber is provided between the tire 16 and the wheel hub 17, and the inflation pressure chamber is filled with the inflation pressure spheres 9. In this embodiment, the inflation pressure sphere 9 is a thin-walled rubber hollow sphere. Let the atmospheric pressure be P0, the operating pressure of the tire 16 be NP0 (1 < N < 10), the pressure inside the inflation pressure sphere 9 be NP0, and the volume of the inflation pressure chamber be V 腔 , the volume V of the inflation pressure sphere 9 when the internal pressure is NP0 球 , the number of inflation pressure spheres filled in the inflation pressure chamber is V 腔 / V 球 .

[0049] Please refer to Figure 1 , the assembly device for the full-automatic safety wheel assembly of the present utility model includes a structural frame 1 and a pressure chamber for providing a pressure environment. An inlet for the wheel assembly to be assembled is provided on one side of the structural frame 1, and an outlet for the wheel assembly is provided on the other side. The wheel assembly 19 to be assembled is conveyed to the inlet for the wheel assembly to be assembled through a conveying mechanism 20, and the finished wheel assembly 24 is conveyed from the outlet for the wheel assembly to the next process. The pressure chamber includes a chamber body 28 and a lower cover 21. The chamber body 28 is fixedly installed on the upper part of the structural frame 1, and the lower cover 21 is installed on the lower part of the structural frame 1 through a jacking mechanism 22. When the jacking mechanism 22 jacks up the lower cover 21, the lower cover 21 and the chamber body 28 can be fixedly connected through a locking mechanism 26, and a sealing ring 25 is installed between the lower cover 21 and the chamber body 28 to ensure the seal at the connection between the lower cover 21 and the chamber body 28.

[0050] Inside the cabin body 28, a storage tank 8, a material control mechanism 11, an upper positioning mechanism 13, a robotic arm assembly 14, and a pressing wheel 29 are installed. The bottom of the storage tank 8 is conical, and a feed inlet 6 and an auxiliary air inlet 3 are provided on the storage tank 8. A material conveying pipe 12 is installed at the bottom of the storage tank 8. The material control mechanism 11 includes a counting module and is installed on the material conveying pipe 12 to control the release and counting of the inflated pressure spheres 9 in the material conveying pipe 12 without affecting the smooth flow of air in the material conveying pipe 12. The upper positioning mechanism 13 is located on the axis of the pressure cabin and is used to position the wheel assembly 19 to be assembled from above. A pressing wheel 29 is installed on one side of the upper positioning mechanism 13. The pressing wheel 29 is used to press the tire 16 into the hub 17 when the tire 16 and the hub 17 are assembled. A robotic arm assembly 14 is installed on the other side of the upper positioning mechanism 13. A manipulator 15 is installed on the robotic arm assembly 14. A sphere channel is arranged along the axis inside the manipulator 15, and a hook-shaped body is provided at the end of the manipulator 15. The upper end of the sphere channel of the manipulator 15 is communicated with the material conveying pipe 15. When filling the spheres, the lower hook-shaped body of the manipulator 15 extends into the inner edge of the tire 16 and hooks up the inner edge of the tire 16, so that the lower end of the sphere channel on the manipulator 15 is communicated with the inflated pressure chamber of the wheel assembly.

[0051] An air inlet valve 2 is installed on the cabin body 28 to input pressurized gas through the air inlet valve 2 to keep the required predetermined pressure inside the pressure cabin. A safety valve 4 and an exhaust valve 5 are also installed on the cabin body 28. The safety valve 4 is activated when the pressure inside the pressure cabin exceeds the safety air pressure to ensure the safe use of the pressure cabin. The exhaust valve 5 is opened after the inflated pressure spheres 9 in the storage tank 8 are filled into the inflated pressure chamber and the inner edge of the tire 16 is pressed into the outer edge of the hub 17 to exhaust the pressurized gas inside the pressure cabin.

[0052] A working platform 27 and a rotary drive mechanism 23 are installed inside the lower cover 21. The rotary drive mechanism 23 is connected to the working platform 27 and can drive the working platform 27 to rotate. A lower positioning mechanism 18 is installed in the middle of the working platform 27. The lower positioning mechanism 18 is used to fix the hub 17 of the wheel assembly 19 to be assembled from below.

[0053] The fully automatic assembly method of the safety wheel assembly of the present utility model is as Figure 2 - Figure 10 shown and specifically includes:

[0054] When the fully automatic assembly device of the safety wheel assembly is in a standby state, the lifting mechanism 22 contracts, the working platform 27 in the lower cover 21 is flush with the conveying platform of the conveying mechanism 20, the air inlet valve 2 and the auxiliary air inlet valve 3 are connected to the air source, the storage tank 8 is filled with the inflatable pressure spheres 9 for the first filling, and the feeding port 6 is closed by the feeding port airtight mechanism 7, the material control mechanism 11 is closed, the inflatable pressure spheres 9 cannot fall, and the storage tank 8 is communicated with the air in the pressure chamber through the material conveying pipe 12;

[0055] The conveying mechanism 20 conveys the wheel assembly 19 to be assembled to the center of the working platform 27;

[0056] The lifting mechanism 22 lifts the lower cover 21 to a predetermined height, so that the lower cover 21 is connected and closed with the cabin body 28 through the sealing ring 25. At the same time, the upper positioning mechanism 13 completes the upper positioning of the hub 17, and the locking mechanism 26 locks the closed part to form a sealed pressure chamber;

[0057] Open the air inlet valve 2 to pressurize the pressure chamber. As the air pressure in the pressure chamber rises, the lower positioning mechanism 18 controls the positioning pin 181 to complete the lower positioning of the hub 17;

[0058] While the pressure chamber is being pressurized, start the rotary drive mechanism 23 to make the tire 16 and the hub 17 rotate slowly together with the working platform 27. The manipulator assembly 14 drives the hook of the manipulator 15 to insert downward into the inner edge of the tire 16 and lift upward, so that the inner edge of the tire 16 is separated from the hub 17, and the sphere channel outlet of the manipulator 15 is communicated with the inflatable pressure chamber in the tire 16;

[0059] When the air pressure in the pressure chamber reaches the predetermined air pressure of 2-3 times of NP0 (at this time, the air pressures in the pressure chamber and the storage tank 8 both reach 2-3 times of NP0), close the air inlet valve 2, open the feeding channel of the material conveying pipe 12 through the material control mechanism 11 and start counting the spheres to be filled. At the same time, open the auxiliary air inlet valve 3 and the exhaust valve 5. By controlling the opening of the exhaust valve 5, a certain pressure difference is formed between the storage tank 8 and the pressure chamber on the premise of maintaining the predetermined air pressure in the pressure chamber, that is, an air flow for filling the spheres is formed from the storage tank 8 → the material control mechanism 11 → the material conveying pipe 12 → the sphere channel of the manipulator 15. The air flow for filling the spheres carries the inflatable pressure spheres 9 and quickly sends them into the inflatable pressure chamber in the tire 16 through the material conveying channel composed of the material control mechanism 11, the material conveying pipe 12 and the manipulator 15;

[0060] When the number of the inflatable pressure spheres 9 filled into the tire 16 reaches the predetermined value, close the material control mechanism 11 (when closing the material control mechanism 11, only the fall of the inflatable pressure spheres 9 will be controlled, and the gas passing through the material conveying channel will not be blocked), prevent the inflatable pressure spheres 9 from falling, and at the same time close the auxiliary air inlet valve 3 and the exhaust valve 5. After the manipulator 15 rotates a certain angle, it is lifted and separated from the inner edge inside of the tire 16;

[0061] The manipulator 15 and the pressure wheel 29 simultaneously press down the outer side of the inner edge of the tire 16, pressing the inner edge of the tire 16 completely into the outer edge of the wheel hub 17 and holding it, closing the rotation drive mechanism 23, and the tire 16 and wheel hub 17 stop rotating along with the working platform 27, and opening the exhaust valve 5 to exhaust;

[0062] As the pressure in the pressure chamber drops, the inflatable pressure ball 9 expands under the action of the internal gas and fills the inflation pressure chamber in the tire 16. The original air in the inflation pressure chamber is released by squeezing the inner edge of the tire 16 through the manipulator 15 and the pressure wheel 29;

[0063] When the air pressure in the pressure chamber drops to P0, the lower positioning mechanism 18 is reset, and the manipulator 15 and the pressure wheel 29 are controlled to retract and reset. The expansion pressure of the inflated pressure ball 9 squeezes the inner edge of the tire 16 into the positioning slot of the wheel hub 17, completing the filling and assembly of the safety wheel, and opening the feed port 7 to prepare for external feeding of the storage tank 8.

[0064] The locking mechanism 26 is reset to release the lock between the cabin 28 and the lower cover 21, the lower cover 21 is separated from the cabin 28, the lifting mechanism 22 is reset, the working platform 27 is reset along with the lifting mechanism 22, and the finished wheel assembly 24 is pushed out to the conveying platform of the conveying mechanism 20, completing all the work of safe wheel assembly.

[0065] like Figure 11 As shown, the locking mechanism 26 includes a locking drive mechanism 261 and two locking arms 262. The locking arms 262 are semicircular. The locking drive mechanism 261 drives the two locking arms 262 to move closer to or away from the pressure chamber to lock or unlock the chamber body 28 and the lower cover 21.

[0066] The volume change of the inflated pressure ball 9 during the whole assembly process is as follows Figure 12 As shown: after the pressure chamber is pressurized, the volume of the inflatable pressure sphere 9 is compressed and filled into the inflatable pressure chamber in a compressed state. The filling of the inflatable pressure sphere 9 is completed. After the pressure chamber is depressurized, the inflatable pressure sphere 9 expands and grows under the action of the internal air pressure.

[0067] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can, without departing from the scope of the present invention, utilize the technical content disclosed above to make many possible changes and modifications to the present invention, or modify it into an equivalent embodiment with equivalent changes. Therefore, any simple modification, equivalent change, and modification of the above embodiment made in accordance with the essence of the present invention without departing from the content of the present invention should fall within the scope of protection of the present invention.

Claims

1. A fully automatic assembly device for a safety wheel assembly, the wheel assembly comprising a tire, a wheel hub, and an inflation pressure sphere. The tire is mounted on the wheel hub, and an inflation pressure chamber is provided between the tire and the wheel hub. The inflation pressure chamber is filled with inflation pressure spheres. It is characterized in that: The assembly device includes a structural frame and a pressure chamber for providing a pressure environment; An inlet for the wheel assembly to be assembled is provided on one side of the structural frame, and an outlet for the wheel assembly is provided on the other side. The pressure chamber is installed inside the structural frame; The pressure chamber includes a housing and a lower cover that are oppositely installed. The housing is fixedly installed on the upper part of the structural frame, and the lower cover is installed on the lower part of the structural frame through a lifting mechanism; A storage tank, a material control mechanism, an upper positioning mechanism, a manipulator, and a pressing wheel are installed inside the housing. The storage tank is provided with a feed inlet, an auxiliary air inlet, and a material conveying pipe and an air inlet valve are installed. The material control mechanism is installed on the material conveying pipe. The upper positioning mechanism is centrally installed inside the housing. A pressing wheel is installed on one side of the upper positioning mechanism, and a manipulator is installed on the other side. A sphere channel is provided inside the manipulator, and a hook-shaped body is provided at the end of the manipulator. The upper end of the sphere channel is communicated with the material conveying pipe; A working platform and a rotation driving mechanism are installed inside the lower cover. The rotation driving mechanism is connected to the working platform, and a lower positioning mechanism for fixing the wheel hub of the wheel assembly to be assembled from below is installed in the middle of the working platform.

2. The fully automatic assembly device for the safety wheel assembly according to claim 1, wherein, A safety valve and an exhaust valve are also installed on the housing.

3. The fully automatic assembly device for a safety wheel assembly according to claim 1, wherein, The bottom of the storage tank is conical, and the material conveying pipe is installed at the bottom of the cone.

4. The fully automatic assembly device for the safety wheel assembly according to claim 1, wherein, The feed inlet is provided with a feed inlet airtight mechanism.

5. The fully automatic assembly device for the safety wheel assembly according to claim 1, characterized in that The upper positioning mechanism is located on the axis of the pressure chamber.

6. The fully automatic assembly device for the safety wheel assembly according to claim 1, characterized in that It further includes a conveying mechanism, which is respectively provided at the wheel assembly inlet and the wheel assembly outlet. When in the working state, the lifting mechanism contracts, and the working platform inside the lower cover is flush with the conveying platform of the conveying mechanism.

7. The fully automatic assembly device for a safety wheel assembly according to claim 1, wherein, It further includes a locking mechanism, which locks the housing and the lower cover together.

8. The fully automatic assembly device for a safety wheel assembly according to claim 7, wherein, The locking mechanism includes a locking driving mechanism and two locking arms. The locking arms are semi-circular. The locking driving mechanism drives the locking arms to lock or unlock the housing and the lower cover.

9. The fully automatic assembly device for a safety wheel assembly according to claim 1, characterized in that, The material control mechanism includes a counting module.

10. The fully automatic assembly device for the safety wheel assembly according to claim 1, characterized in that, A robotic arm assembly is installed inside the housing, and the manipulator is installed on the robotic arm assembly.

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