Flexible automatic pick-and-place device

Abstract

The utility model discloses a flexible automatic pick-and-place device, and aims to overcome the defect of low automation degree of PCBA (Printed Circuit Board Assembly) board transfer and identification in the prior art. The technical problem is solved through the following technical scheme that the device comprises a horizontal conveying device, a vertical conveying device and a taking and placing device, the horizontal conveying device moves in the horizontal direction, the vertical conveying device is arranged at the movable end of the horizontal conveying device, and the horizontal conveying device drives the vertical conveying device to move in the horizontal direction; the vertical conveying device moves in the vertical direction, and a taking and placing device and a code scanning recognition device are arranged at the movable end of the vertical conveying device. According to the PCBA board transferring device, the positions of PCBA boards can be automatically recognized, so that the PCBA boards are accurately transferred to designated positions, each PCBA board can be recognized, and later-period traceability and tracking are facilitated.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic transportation, and more specifically, to a flexible self-taking and placing device. Background Art

[0002] With the development and progress of technology, the degree of intelligence is getting higher and higher, and more attention is paid to safety and stability. In the automotive industry, the electric drive steering assembly (PCBA board) is one of the core components of intelligent assisted driving. Due to the complex process steps and high requirements for the stability of the product during the production process, the design is transformed from manual to automatic equipment. The existing technology has a low level of automation and cannot accurately identify and transfer the electric drive steering assembly. Content of the Utility Model

[0003] The utility model overcomes the deficiency of the low automation degree of the transfer and identification of the PCBA board in the prior art, and provides a flexible self-taking and placing device, which can automatically identify the position of the PCBA board, so as to accurately transfer it to the designated position, and can identify each PCBA board, which is convenient for later traceability tracking.

[0004] To solve the above technical problems, the utility model adopts the following technical solutions: a flexible self-taking and placing device, comprising: a horizontal transportation device, a vertical transportation device and a taking and placing device. The horizontal transportation device moves along the horizontal direction, and the movable end of the horizontal transportation device is provided with a vertical transportation device, and the horizontal transportation device drives the vertical transportation device to move along the horizontal direction; the vertical transportation device moves along the vertical direction, and the movable end of the vertical transportation device is provided with a taking and placing device and a code scanning and identifying device.

[0005] The utility model cooperates between the horizontal transportation device and the vertical transportation device. The output end of the horizontal transportation device drives the vertical transportation device, the taking and placing device and the code scanning and identifying device to move in the horizontal direction, while the vertical transportation device drives the taking and placing device and the code scanning and identifying device to move in the vertical direction, so that the taking and placing device and the code scanning and identifying device can be driven to move in the X direction and the Z direction. The taking and placing device can pick up the PCBA board, so as to realize the transfer of the PCBA board in space. The code scanning and identifying device can automatically identify the two-dimensional code on the PCBA board, so as to automatically record the information on each PCBA board, which is convenient for realizing later fault traceability tracking.

[0006] Preferably, the horizontal transportation device includes a horizontal slide rail, a horizontal lead screw arranged along the horizontal slide rail, and a lead screw slider cooperating with the horizontal lead screw; a horizontal transportation motor for driving the rotation is arranged at the end of the horizontal lead screw, and the horizontal transportation motor drives the horizontal lead screw to rotate so that the lead screw slider moves along the horizontal slide rail; the vertical transportation device is arranged on the lead screw slider.

[0007] The screw rod slider and the horizontal screw rod cooperate to form a ball screw structure, which can accurately control the displacement of the screw rod slider, featuring high running precision and stable operation, thus achieving precise position control.

[0008] Preferably, it further includes a horizontal hanging plate arranged parallel to the horizontal slide rail, a horizontal sliding plate cooperating with the horizontal hanging plate, a horizontal hanging opening cooperating with the horizontal hanging plate is arranged on the horizontal sliding plate, and the horizontal hanging plate is fixedly connected to the horizontal slider.

[0009] The horizontal hanging opening is stuck on both sides of the upper line of the horizontal hanging plate, improving the stability of the vertical transportation device in the horizontal direction during operation.

[0010] Preferably, the vertical transportation device is a vertical transportation cylinder.

[0011] The vertical transportation cylinder features simple structure and convenient operation.

[0012] Preferably, the code scanning and recognition device includes a code scanning gun and a code scanning cylinder arranged at the muzzle of the code scanning gun.

[0013] The code scanning cylinder can be aligned with the two-dimensional code, preventing other light rays from affecting the recognition of the two-dimensional code by the muzzle of the code scanning gun, thereby improving the accuracy of code scanning.

[0014] Preferably, the cross-section of the code scanning cylinder gradually decreases towards the direction close to the code scanning gun.

[0015] The cross-section of the code scanning cylinder gradually decreases towards the direction close to the code scanning gun, making the code scanning cylinder form a horn shape with an opening downward and the opening gradually increasing, enabling it to more easily align with the two-dimensional code and recognize the two-dimensional code.

[0016] Preferably, it further includes a storage device arranged at the bottom of the picking and placing device. The storage device includes a sliding transfer drawer, an installation groove is arranged on the sliding transfer drawer, and electric clamping mechanisms are arranged on both sides of the installation groove.

[0017] The staff first pulls out the transfer drawer, then places the PCBA transfer board with the PCBA board on the transfer drawer. After that, the staff pushes the transfer drawer to move the PCBA transfer board below the vertical transportation cylinder. Then, through the cooperation of the horizontal transportation device and the vertical transportation device, the PCBA board on the PCBA transfer board is transported. During transportation, the electric clamping mechanism can fix the PCBA transfer board to prevent the PCBA transfer board from loosening when transporting the PCBA board.

[0018] Preferably, the electric clamping mechanism includes a clamping cylinder arranged along the direction perpendicular to the installation groove and a clamping plate arranged at the end of the clamping cylinder.

[0019] After the transfer of the PCBA board is completed, the clamping cylinder drives the clamping plate away from the PCBA transfer board, so that the PCBA transfer board can be replaced.

[0020] Compared with the prior art, the beneficial effects of the present utility model are as follows: The present utility model cooperates between the horizontal transportation device and the vertical transportation device. The output end of the horizontal transportation device drives the vertical transportation device, the picking and placing device, and the code scanning and recognition device to move in the horizontal direction, while the vertical transportation device drives the picking and placing device and the code scanning and recognition device to move in the vertical direction, enabling the picking and placing device and the code scanning and recognition device to move in the X direction and the Z direction. The picking and placing device can pick up the PCBA board, thereby realizing the transfer of the PCBA board in space. The code scanning and recognition device can automatically recognize the two-dimensional code on the PCBA board, so as to automatically record the information on each PCBA board, facilitating the subsequent tracing of faults. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of the present utility model.

[0022] Figure 2 It is a front view of the overall structure of the present utility model.

[0023] Figure 3 It is a schematic diagram of the structure of the horizontal hanging port of the present utility model.

[0024] Figure 4 It is a schematic diagram of the structure of the sliding transfer drawer of the present utility model.

[0025] In the figure: 1, gantry, 11, vertical support rod, 12, horizontal support rod;

[0026] 2, horizontal transportation device, 21, horizontal slide rail, 22, screw slider, 23, horizontal transportation motor, 24, horizontal slide plate, 25, L-shaped plate, 26, horizontal hanging port;

[0027] 3, vertical transportation device;

[0028] 4, picking and placing device;

[0029] 5, code scanning and recognition device, 51, code scanning gun,

[0029] 52, code scanning cylinder;

[0030] 6, sliding transfer drawer, 61, installation groove, 62, clamping cylinder, 63, clamping plate;

[0031] 7, drag chain wire groove. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0032] The technical solutions of the present utility model will be further specifically described below through specific embodiments in conjunction with the drawings:

[0033] Embodiment 1: Refer to Figures 1 to 4 As shown, a flexible self - picking and placing device includes a horizontal transportation motor 23, a vertical transportation device 3, and a picking and placing device 4. The horizontal transportation motor 23 moves in the horizontal direction. A vertical transportation device 3 is provided at the movable end of the horizontal transportation motor 23, and the horizontal transportation motor 23 drives the vertical transportation device 3 to move in the horizontal direction. The vertical transportation device 3 moves in the vertical direction, and a picking and placing device 4 and a code scanning and recognition device 5 are provided at the movable end of the vertical transportation device 3.

[0034] In this application, through the cooperation between the horizontal transportation motor 23 and the vertical transportation device 3, the output end of the horizontal transportation motor 23 drives the vertical transportation device 3, the picking and placing device 4, and the code scanning and recognition device 5 to move in the horizontal direction, while the vertical transportation device 3 drives the picking and placing device 4 and the code scanning and recognition device 5 to move in the vertical direction, enabling the picking and placing device 4 and the code scanning and recognition device 5 to move in the X - direction and the Z - direction. The picking and placing device 4 can pick up the PCBA board, thereby realizing the transportation of the PCBA board in space. The code scanning and recognition device 5 can automatically identify the two - dimensional code on the PCBA board, thereby being able to automatically record the information on each PCBA board, facilitating the realization of later fault traceability and tracking.

[0035] Embodiment 2: Refer to Figures 1 to 4 As shown, a flexible self - picking and placing device includes a gantry 11, a horizontal transportation motor 22, a vertical transportation device 3, and a picking and placing device 4. The horizontal transportation motor 23 moves in the horizontal direction. A vertical transportation device 3 is provided at the movable end of the horizontal transportation motor 23, and the horizontal transportation motor 23 drives the vertical transportation device 3 to move in the horizontal direction. The vertical transportation device 3 moves in the vertical direction, and a picking and placing device 4 and a code scanning and recognition device 5 are provided at the movable end of the vertical transportation device 3.

[0036] The gantry 1 includes a plurality of vertical support rods 11 and a horizontal support rod 12 provided at the upper ends of the plurality of vertical support rods 11. The horizontal transportation motor 23 is fixedly provided on the horizontal support rod 12.

[0037] The horizontal transportation motor 23 includes a horizontal slide rail 21, a horizontal lead screw arranged along the horizontal slide rail 21, and a lead screw slider 22 that cooperates with the horizontal lead screw. The lead screw slider 22 and the horizontal lead screw cooperate to form a ball screw structure, which can precisely control the displacement of the lead screw slider 22 and has the characteristics of high running accuracy and stable operation. A horizontal transportation motor 23 for driving the horizontal lead screw to rotate is provided at the end of the horizontal lead screw. The horizontal transportation motor 23 is fixedly provided on the horizontal support rod 2212. The horizontal transportation motor 23 drives the horizontal lead screw to rotate, causing the lead screw slider 22 to move along the horizontal slide rail 21. The vertical transportation device 3 is provided on the lead screw slider 22, and the movement of the lead screw slider 22 drives the vertical transportation device 3 to move along the horizontal slide rail 21.

[0038] For the stability of the vertical transportation device 3 during horizontal operation. In this embodiment, the horizontal slide rail 21 is a horizontal hanging plate, which is arranged parallel to the horizontal support rod 2212. There is a certain distance between the horizontal hanging plate and the horizontal support rod 2212. A horizontal sliding plate 24 that cooperates with it is arranged on the horizontal hanging plate, and the horizontal sliding plate 24 moves along the horizontal hanging plate. A horizontal hanging opening 26 that cooperates with the horizontal hanging plate is arranged on the horizontal sliding plate 24, and the horizontal hanging plate is fixedly connected to the horizontal slider.

[0039] The horizontal hanging opening 26 is arranged on the back of the horizontal sliding plate 24. Two oppositely arranged L-shaped plates 25 are arranged on the back of the horizontal hanging plate. The two L-shaped plates 25 are arranged opposite to each other and cooperate to form the horizontal hanging opening 26. The horizontal hanging opening 26 is stuck on both sides of the upper line of the horizontal hanging plate. The screw rod slider 22 is fixedly arranged between the two L-shaped plates 25, so that the horizontal hanging opening 26 forms a closed horizontal hanging opening 26, enabling the horizontal hanging opening 26 to stably slide along the horizontal hanging plate in the horizontal direction.

[0040] The vertical transportation device 3 is fixedly installed on the front of the horizontal sliding plate 24. The vertical transportation device 3 in this embodiment is a vertical transportation cylinder. A picking and placing device 4 and a code scanning and recognition device 5 are arranged at the movable end of the vertical transportation cylinder. Through the movement of the movable end of the vertical transportation cylinder in the vertical direction, the code scanning and recognition device 5 and the picking and placing device 4 can move in the vertical direction.

[0041] The picking and placing device 4 in this embodiment includes, but is not limited to, a suction cup picking and placing device 4. The code scanning and recognition device 5 includes a code scanning gun 51 and a code scanning cylinder 52 arranged at the muzzle of the code scanning gun 51. The code scanning cylinder 52 can be aligned with the two-dimensional code to prevent other light from affecting the recognition of the two-dimensional code by the muzzle of the code scanning gun 51, thereby improving the accuracy of code scanning. The cross-section of the code scanning cylinder 52 gradually decreases towards the direction close to the code scanning gun 51, so that the code scanning cylinder 52 forms a horn shape with an opening downward and an opening gradually increasing, making it easier to align with the two-dimensional code and recognize the two-dimensional code.

[0042] In addition, a drag chain wire groove 7 is arranged on the horizontal support rod 2212 and the vertical transportation device 3. The drag chain wire groove 7 protects cables, network cables, air pipes, etc. from being twisted and deformed during reciprocating motion.

[0043] The working principle of this implementation is as follows: The horizontal transport motor 23 drives the horizontal lead screw to rotate, causing the lead screw slider 22 to slide along the horizontal lead screw. The lead screw slider 22 drives the horizontal slide plate 24 to move along the horizontal hanging plate, thereby driving the vertical transport cylinder to move horizontally. When the vertical transport cylinder moves horizontally under the leadership of the horizontal transport motor 23, when it moves to a specific position, the vertical transport cylinder controls the picking and placing device 4 to move downward to grab the PCBA board. When grabbing, the barcode scanner 51 identifies the two-dimensional code and records the information of the corresponding PCBA board. Then, the horizontal transport motor 23 transports the PCBA board to the designated position, and then the vertical transport cylinder places the PCBA board at the designated position to achieve the transfer of the PCBA board.

[0044] In this application, the horizontal transport motor 23 and the vertical transport device 3 cooperate with each other. The output end of the horizontal transport motor 23 drives the vertical transport device 3, the picking and placing device 4, and the barcode recognition device 5 to move horizontally, while the vertical transport device 3 drives the picking and placing device 4 and the barcode recognition device 5 to move vertically, enabling the picking and placing device 4 and the barcode recognition device 5 to move in the X direction and the Z direction. The picking and placing device 4 can pick up the PCBA board, thereby achieving the transfer of the PCBA board in space. The barcode recognition device 5 can automatically identify the two-dimensional code on the PCBA board, thereby automatically recording the information on each PCBA board, facilitating the later tracing of faults.

[0045] Embodiment 2: Refer to Figures 1 to 4 As shown in the figure, a flexible self-picking and placing device includes: a gantry 11, a horizontal transport motor 22, a vertical transport device 3, and a picking and placing device 4. The horizontal transport motor 23 moves horizontally. The movable end of the horizontal transport motor 23 is provided with a vertical transport device 3, and the horizontal transport motor 23 drives the vertical transport device 3 to move horizontally; the vertical transport device 3 moves vertically, and the movable end of the vertical transport device 3 is provided with a picking and placing device 4 and a barcode recognition device 5.

[0046] The gantry 1 includes several vertical support rods 11 and a horizontal support rod 12 provided at the upper ends of the several vertical support rods 11. The horizontal transport motor 23 is fixedly arranged on the horizontal support rod 12.

[0047] The horizontal transport motor 23 includes a horizontal slide rail 21, a horizontal lead screw arranged along the horizontal slide rail 21, and a lead screw slider 22 that cooperates with the horizontal lead screw; the lead screw slider 22 and the horizontal lead screw cooperate to form a ball screw structure, which can accurately control the displacement of the lead screw slider 22 and has the characteristics of high operating accuracy and stable operation. A horizontal transport motor 23 for driving the horizontal lead screw to rotate is provided at the end of the horizontal lead screw. The horizontal transport motor 23 is fixedly arranged on the horizontal support rod 2212. The horizontal transport motor 23 drives the horizontal lead screw to rotate, so that the lead screw slider 22 moves along the horizontal slide rail 21. The vertical transport device 3 is arranged on the lead screw slider 22, and the movement of the lead screw slider 22 drives the vertical transport device 3 to move along the horizontal slide rail 21.

[0048] For the stability of the vertical transport device 3 during horizontal operation. In this embodiment, the horizontal slide rail 21 is a horizontal hanging plate, which is arranged parallel to the horizontal support rod 2212. There is a certain distance between the horizontal hanging plate and the horizontal support rod 2212. A horizontal slide plate 24 that cooperates with it is arranged on the horizontal hanging plate, and the horizontal slide plate 24 moves along the horizontal hanging plate. A horizontal hanging opening 26 that cooperates with the horizontal hanging plate is arranged on the horizontal slide plate 24, and the horizontal hanging plate is fixedly connected to the horizontal slider.

[0049] The horizontal hanging opening 26 is arranged on the back of the horizontal slide plate 24. Two oppositely arranged L-shaped plates 25 are arranged on the back of the horizontal hanging plate. The two L-shaped plates 25 are arranged opposite to each other and cooperate to form the horizontal hanging opening 26. The horizontal hanging opening 26 is stuck on both sides of the upper line of the horizontal hanging plate. The lead screw slider 22 is fixedly arranged between the two L-shaped plates 25, so that the horizontal hanging opening 26 forms a closed horizontal hanging opening 26, enabling the horizontal hanging opening 26 to stably slide along the horizontal hanging plate in the horizontal direction.

[0050] The vertical transport device 3 is fixedly installed on the front of the horizontal slide plate 24. In this embodiment, the vertical transport device 3 is a vertical transport cylinder. A picking and placing device 4 and a code scanning and identifying device 5 are arranged at the movable end of the vertical transport cylinder. Through the movement of the movable end of the vertical transport cylinder in the vertical direction, the code scanning and identifying device 5 and the picking and placing device 4 can move in the vertical direction.

[0051] The picking and placing device 4 in this embodiment includes, but is not limited to, a suction cup picking and placing device 4. The code scanning and identifying device 5 includes a code scanning gun 51 and a code scanning cylinder 52 arranged at the muzzle of the code scanning gun 51. The code scanning cylinder 52 can be aligned with the two-dimensional code to prevent other light from affecting the recognition of the two-dimensional code by the muzzle of the code scanning gun 51, thereby improving the accuracy of code scanning. The cross-section of the code scanning cylinder 52 gradually decreases towards the direction close to the code scanning gun 51, so that the code scanning cylinder 52 forms a horn shape with an opening downward and an opening gradually increasing, making it easier to align with the two-dimensional code and recognize the two-dimensional code.

[0052] In addition, a drag chain wire groove 7 is provided on the horizontal support rod 2212 and the vertical transport device 3. The drag chain wire groove 7 protects cables, network cables, air pipes, etc. from being twisted and deformed during reciprocating motion.

[0053] The structure of this embodiment is similar to that of Embodiment 1. The difference lies in the storage device at the bottom of the picking and placing device 4. The storage device includes a sliding transfer drawer 6. An installation groove 61 is provided on the sliding transfer drawer 6, and electric clamping mechanisms are provided on both sides of the installation groove 61.

[0054] The installation groove 61 is used to cooperate with the PCBA transfer board. Multiple PCBA boards can be placed on the PCBA transfer board at the same time. The PCBA transfer board is placed in the installation groove 61. Through the sliding transfer drawer 6, the PCBA transfer board can be moved to a position corresponding to this application. Specifically, the staff first pulls out the transfer drawer, then places the PCBA transfer board with PCBA boards on the transfer drawer. Then the staff pushes the transfer drawer to move the PCBA transfer board below the vertical transport cylinder. Then, through the cooperation of the horizontal transport motor 23 and the vertical transport device 3, the PCBA boards on the PCBA transfer board are transported. During transportation, the electric clamping mechanism can fix the PCBA transfer board to prevent the PCBA transfer board from loosening when transporting the PCBA boards.

[0055] The electric clamping mechanism includes a clamping cylinder 62 arranged in a direction perpendicular to the installation groove 61 and a clamping plate 63 arranged at the end of the movable end of the clamping cylinder 62. The clamping cylinder 62 drives the clamping plate 63 to approach or move away from the clamping groove to achieve clamping.

[0056] When transporting the PCBA boards, the clamping cylinder 62 drives the clamping plate 63 to closely adhere to the periphery of the PCBA transfer board to fix the PCBA transfer board. After the transportation of the PCBA boards is completed, the clamping cylinder 62 drives the clamping plate 63 to move away from the PCBA transfer board, so that the PCBA transfer board can be replaced.

[0057] The working principle of this embodiment is as follows: The horizontal transport motor 23 drives the horizontal lead screw to rotate, so that the lead screw slider 22 slides along the horizontal lead screw. The lead screw slider 22 drives the horizontal slide plate 24 to move along the horizontal hanging plate, thereby driving the vertical transport cylinder to move in the horizontal direction. When the vertical transport cylinder moves in the horizontal direction under the leadership of the horizontal transport motor 23, when it moves to a specific position, the vertical transport cylinder controls the picking and placing device 4 to move downward to grab the PCBA boards. When grabbing, the barcode scanner 51 identifies the two-dimensional code and records the information of the corresponding PCBA boards. Then the horizontal transport motor 23 transports the PCBA boards to the designated position, and then the vertical transport cylinder places the PCBA boards at the designated position to achieve the transportation of the PCBA boards.

[0058] In this application, through the cooperation between the horizontal transportation motor 23 and the vertical transportation device 3, the output end of the horizontal transportation motor 23 drives the vertical transportation device 3, the picking and placing device 4, and the code scanning and recognition device 5 to move in the horizontal direction, while the vertical transportation device 3 drives the picking and placing device 4 and the code scanning and recognition device 5 to move in the vertical direction, so that the picking and placing device 4 and the code scanning and recognition device 5 can be driven to move in the X direction and the Z direction. The picking and placing device 4 can pick up the PCBA board, thereby realizing the transportation of the PCBA board in space. The code scanning and recognition device 5 can automatically recognize the two-dimensional code on the PCBA board, so as to automatically record the information on each PCBA board, which is convenient for realizing the later fault traceability and tracking.

[0059] The above embodiments are only the preferred solutions of the present invention, and do not impose any form of limitation on the present invention. There are other variants and modifications without exceeding the technical solutions recorded in the claims.

Claims

1. A flexible self - picking and placing device, characterized in that, Including: A horizontal transportation device, a vertical transportation device, and a picking and placing device. The horizontal transportation device moves in the horizontal direction. A vertical transportation device is provided at the movable end of the horizontal transportation device, and the horizontal transportation device drives the vertical transportation device to move in the horizontal direction. The vertical transportation device moves in the vertical direction, and a picking and placing device and a code scanning and recognition device are provided at the movable end of the vertical transportation device.

2. The flexible self-loading and unloading device according to claim 1, wherein, The horizontal transportation device includes a horizontal slide rail, a horizontal lead screw arranged along the horizontal slide rail, and a lead screw slider cooperating with the horizontal lead screw. A horizontal transportation motor for driving its rotation is provided at the end of the horizontal lead screw, and the horizontal transportation motor drives the horizontal lead screw to rotate so that the lead screw slider moves along the horizontal slide rail. The vertical transportation device is arranged on the lead screw slider.

3. The flexible self-loading and unloading device according to claim 2, wherein, It further includes a horizontal hanging plate arranged parallel to the horizontal slide rail and a horizontal sliding plate cooperating with the horizontal hanging plate. A horizontal hanging opening cooperating with the horizontal hanging plate is provided on the horizontal sliding plate, and the horizontal hanging plate is fixedly connected to the horizontal slider.

4. The flexible self-picking and placing device according to any one of claims 1 to 3, characterized in that, The vertical transportation device is a vertical transportation cylinder.

5. The flexible self-picking and placing device according to any one of claims 1 to 3, characterized in that The code scanning and recognition device includes a code scanning gun and a code scanning cylinder arranged at the muzzle of the code scanning gun.

6. The flexible self-loading and unloading device according to claim 5, characterized in that, The cross-section of the code scanning cylinder gradually decreases in the direction approaching the code scanning gun.

7. The flexible self-picking and placing device according to any one of claims 1 to 3, characterized in that, It further includes a material storage device arranged at the bottom of the picking and placing device. The material storage device includes a sliding transfer drawer, and an installation groove is provided on the sliding transfer drawer. Electric clamping mechanisms are provided on both sides of the installation groove.

8. The flexible self-loading and unloading device according to claim 7, characterized in that, The electric clamping mechanism includes a clamping cylinder arranged in a direction perpendicular to the installation groove and a clamping plate arranged at the end of the clamping cylinder.

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