Automatic pad printing machine

Abstract

The utility model discloses an automatic pad printing machine which improves production efficiency, saves labor cost and has automatic stacking, feeding and discharging functions. The tray stacking device comprises a tray feeding mechanism and a tray discharging mechanism, a tray conveying device is arranged between the tray feeding mechanism and the tray discharging mechanism, the tray feeding mechanism and the tray discharging mechanism are used for stacking trays, a plurality of products are placed in the trays, and a tray positioning and clamping device is arranged in the middle of the tray conveying device. A double-moving module is arranged at the front end of the tray positioning and clamping device, two carrier assemblies are arranged on the double-moving module, when one carrier assembly is located at the front end of the double-moving module, the other carrier assembly is located at the rear end of the double-moving module, and a feeding and discharging robot is arranged on one side between the double-moving module and the tray positioning and clamping device. A transfer printing rack is arranged at the rear end of the double-moving module, and a transfer printing device is arranged on the transfer printing rack. The transfer printing device is applied to the technical field of transfer printing devices.

Description

Technical Field

[0001] The utility model relates to an automatic pad printing machine, in particular to an automatic pad printing machine for watch cases. Background Art

[0002] During the production process of watch cases, pad printing is required on both sides. The traditional production method is that the operator takes a product from the turntable in the unprocessed area and places it steadily on the pad printing tooling. Before placing the product, the cleanliness of the tooling must be confirmed. Then, the bottom of the product is faced down, and the product is pressed with both hands to confirm that the product is clamped in place. The front of the product is then pad printed by the pad printer. After pad printing is completed, the operator takes out the product, turns it over and puts it back on the turntable, and then gives it to the operator of the next process to pad print the back of the product. This traditional operation not only has low production efficiency and high labor costs, but also the production quality of the product will be affected by the operator. If the product is not clamped in place when placed in the tooling, it will affect the quality of subsequent pad printing. Utility Model Content

[0003] The technical problem to be solved by the utility model is to overcome the deficiencies of the prior art and provide an automatic pad printing machine which improves production efficiency, saves labor costs and has automatic stacking and loading and unloading.

[0004] The technical solution adopted by the utility model is as follows: the utility model includes a first frame, wherein both ends of the first frame are respectively provided with a pallet loading mechanism and a pallet unloading mechanism, a pallet conveying device is provided between the pallet loading mechanism and the pallet unloading mechanism, the pallet loading mechanism and the pallet unloading mechanism are used to stack pallets, and a plurality of products are placed in the pallet, and a pallet positioning and clamping device is provided in the middle of the pallet conveying device, and a double moving module is provided at the front end of the pallet positioning and clamping device, and two carrier assemblies are provided on the double moving module, and the two carrier assemblies are driven to reciprocate when the double moving module is driven, and when one carrier assembly is kept at the front end of the double moving module, the other carrier assembly is located at the rear end of the double moving module, and a loading and unloading robot is provided on one side between the double moving module and the pallet positioning and clamping device, and a pad printing frame is provided at the rear end of the double moving module, and a pad printing device located above the rear end of the double moving module is provided on the pad printing frame.

[0005] Furthermore, a hood is provided on the first frame, the pallet conveying device is located inside the hood, an MCU controller is integrated on the hood, and the pallet loading mechanism, the pallet unloading mechanism, the pallet conveying device, the pallet positioning and clamping device, the dual movable module, the loading and unloading robot and the pad printing device are all electrically connected to the MCU controller.

[0006] Further, the double moving module includes a first support bottom plate, the front end of the first support bottom plate is fixed to the first rack, the rear end of the first support bottom plate extends out of the first rack and is located above the pad printing rack, linear drive modules are symmetrically arranged on the first support bottom plate, and the two carrier assemblies are respectively installed on the two linear drive modules. The carrier assembly includes a carrier bottom plate, two carrier slots adapted to the product are arranged on the carrier bottom plate, and a jaw avoidance slot is arranged inside the carrier slot.

[0007] Further, a lifting support platform and a manual lifting screw rod connected to the lifting support platform are installed on the side end of the pad printing rack. The lifting support platform is driven by the manual lifting screw rod to move to the bottom of the rear end of the first support bottom plate. The pad printing device includes two pad printing slots, pad printing liquid is installed in each of the pad printing slots, a pad printing transverse movement device is arranged on the pad printing rack, two lifting pad printing heads are arranged on the lower side of the front end of the pad printing transverse movement device, and two pad printing wiping heads are arranged on the lower side of the rear end of the pad printing transverse movement device. The two lifting pad printing heads move between the pad printing slots and the two linear drive modules under the drive of the pad printing transverse movement device.

[0008] Further, a pad printing head cleaning mechanism is arranged at the rear end of the pad printing rack. The pad printing head cleaning mechanism includes a cleaning forward pushing drive device and a forward pushing carrier plate connected to the cleaning forward pushing drive device. One end of the forward pushing carrier plate is provided with a cleaning support, a sticker output tray is arranged at the upper end of the cleaning support, a sticker recycling rotating tray is arranged at the lower end of the cleaning support, the other end of the forward pushing carrier plate is provided with a cleaning carrier plate, and sticker rotating rollers are arranged at both ends of the cleaning carrier plate. The sticker output by the sticker output tray passes through the two sticker rotating rollers and then returns to the sticker recycling rotating tray. At this time, the sticker sticking surface of the cleaning carrier plate faces upward, and the cleaning carrier plate is driven by the cleaning forward pushing drive device to move to directly below the two lifting pad printing heads.

[0009] Further, the loading and unloading robot includes a four-axis robot, a U-shaped mounting plate is arranged at the end of the four-axis robot, first lifters are symmetrically arranged at both ends of both sides of the U-shaped mounting plate. External clamping cylinders are installed on the two first lifters on the same side at one end, and first inner supporting clamping cylinders adapted to the jaw avoidance slots are installed on the two first lifters on the same side at the other end. The external clamping cylinder is used to clamp the product from the outside, and the first inner supporting clamping cylinder is used to clamp the product from the inside. The product is a watch case.

[0010] Furthermore, the pallet positioning and clamping device includes a pallet lifting mechanism, and the left and right ends of the pallet lifting mechanism are respectively provided with blockers and assembly line check valves, and pallet incoming material sensors are provided below the left and right ends of the pallet lifting mechanism. Pallet pressure plates are provided on all four sides above the pallet lifting mechanism, and the pallet lifting mechanism is used to lift and press the pallet on the pallet conveying device against the pallet pressure plates; a CCD camera assembly is provided at the top of the inner top of the hood and directly above the pallet lifting mechanism, and the CCD camera assembly is used to capture the real-time position of each product on the pallet.

[0011] Furthermore, a product flipping device is provided on the other side between the double movable module and the pallet positioning and clamping device, and the product flipping device includes a lifting drive device and a flipping cylinder connected to the lifting drive device and a flipping swing arm connected to the flipping cylinder. The lower end array of the flipping swing arm is provided with four second internally supported clamping cylinders, and the four second internally supported clamping cylinders are respectively located directly above the two carrier assemblies when they move to the front end. Swing arm in-position buffers are symmetrically provided at both ends of the flipping cylinder, and the swing arm in-position buffers are located in the swing stroke of the flipping swing arm, and are used to control the rotation of the flipping swing arm at 0° and 180°.

[0012] The beneficial effects of the present invention are: 1. Through the tray loading mechanism, the tray unloading mechanism and the tray conveying device, fully automatic loading and unloading can be achieved, and it is only necessary to manually stack the trays to the tray loading mechanism and to manually take out the trays from the tray unloading mechanism, which can greatly save labor costs, and manual loading and unloading once can be used for long-term automatic processing and production; 2. Through the positional structural design and coordination of the loading and unloading robot, the pad printing device and the double mobile modules, the present invention can load and unload and pad print at the same time, saving the production cycle, improving production efficiency, and improving production cycle and efficiency; 3. The pad printed watch case with the processed front side is directly turned over and put back on the tray through the product turning device, which saves the subsequent manual operation of turning over the watch case in the tray for pad printing on the back, and also avoids some human errors. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a structural diagram of the utility model;

[0014] Figure 2 It is a schematic diagram of the internal structure of the utility model;

[0015] Figure 3 It is a structural diagram of the pallet loading mechanism;

[0016] Figure 4 It is a structural schematic diagram of the pallet positioning and clamping device;

[0017] Figure 5 It is a structural diagram of a dual mobile module;

[0018] Figure 6 It is a structural diagram of the loading and unloading robot;

[0019] Figure 7 It is a schematic diagram of the installation structure on the pad printing machine frame;

[0020] Figure 8 It is a structural diagram of a product turning device;

[0021] Figure 9 It is a schematic diagram of the structure of the pad printing head cleaning mechanism. DETAILED DESCRIPTION

[0022] like Figures 1 to 9 As shown, in this embodiment, the utility model includes a first frame 1, and a tray loading mechanism 2 and a tray unloading mechanism 3 are respectively provided at both ends of the first frame 1, and a tray conveying device 4 is provided between the tray loading mechanism 2 and the tray unloading mechanism 3, and the tray loading mechanism 2 and the tray unloading mechanism 3 are used to stack trays 5, and a plurality of products 1a are placed in the tray 5. A tray positioning clamping device 6 is provided in the middle of the tray conveying device 4, and a double moving module 7 is provided at the front end of the tray positioning clamping device 6. Two carrier assemblies 8 are provided on the module 7, and the two carrier assemblies 8 are driven to reciprocate in the double-movable module 7, and when one carrier assembly 8 is maintained at the front end of the double-movable module 7, the other carrier assembly 8 is located at the rear end of the double-movable module 7. A loading and unloading robot 9 is provided on one side between the double-movable module 7 and the pallet positioning and clamping device 6, and a pad printing frame 10 is provided at the rear end of the double-movable module 7. A pad printing device 11 located above the rear end of the double-movable module 7 is provided on the pad printing frame 10.

[0023] In this embodiment, the pallet loading mechanism 2 and the pallet unloading mechanism 3 both include a pallet material frame 21, a pallet lifting device 22 is provided below the pallet material frame 21, and pallet lifting and supporting devices 23 are provided at both ends of the pallet material frame 21. The two pallet lifting and supporting devices 23 are used to lift and support the pallet 5 in the pallet material frame 21, and the pallet lifting device 22 is used to lift the pallet 5 from the pallet conveying device 4 into the pallet material frame 21 or lift the pallet 5 in the pallet material frame 21 down to the pallet conveying device 4.

[0024] In this embodiment, a cover 12 is provided on the first frame 1, the tray conveying device 4 is located inside the cover 12, an MCU controller 13 is integrated on the cover 12, and the tray loading mechanism 2, the tray unloading mechanism 3, the tray conveying device 4, the tray positioning and clamping device 6, the dual movable module 7, the loading and unloading robot 9 and the pad printing device 11 are all electrically connected to the MCU controller 13.

[0025] In this embodiment, the dual movable module 7 includes a first supporting base plate 71, the front end of the first supporting base plate 71 is fixed to the first frame 1, the rear end of the first supporting base plate 71 extends out of the first frame 1 and is located above the pad printing frame 10, and a linear drive module 72 is symmetrically arranged on the first supporting base plate 71, and the two carrier assemblies 8 are respectively installed on the two linear drive modules 72, and the carrier assembly 8 includes a carrier base plate 73, and the carrier base plate 73 is provided with two loading slots 74 adapted to the product 1a, and the interior of the loading slot 74 is provided with a clamping claw avoidance groove 75; in this design, two drivers can be separately installed in the two linear drive modules 72, each driver drives one of the carrier base plates 73 respectively, or a driver and a gear connected to the driver can be added to the middle of the two linear drive modules 72, and the upper and lower ends of the gear are respectively engaged with racks, and the two racks are respectively connected to one of the carrier base plates 73.

[0026] In this embodiment, a lifting support platform 101 and a hand-cranked lifting screw 102 connected to the lifting support platform 101 are installed at the side end of the pad printing frame 10. The lifting support platform 101 is driven to move to the bottom of the rear end of the first support base plate 71 by the hand-cranked lifting screw 102. This design enables the lifting support platform 101 to provide support force to the first support base plate 71 to avoid shaking during pad printing and affecting the pad printing quality. The pad printing device 11 includes two pad printing grooves 103. The pad printing grooves 103 is installed with pad printing liquid, and a pad printing transverse moving device 104 is provided on the pad printing frame 10, and two lifting pad printing heads 105 are provided on the lower side of the front end of the pad printing transverse moving device 104, and two pad printing leveling heads 106 are provided on the lower side of the rear end of the pad printing transverse moving device 104. The pad printing leveling heads 106 are used to level the pad printing liquid surface in the pad printing tank 103, and the two lifting pad printing heads 105 are driven by the pad printing transverse moving device 104 to move between the pad printing tank 103 and the two linear drive modules 72.

[0027] In this embodiment, a pad printing head cleaning mechanism 14 is provided at the rear end of the pad printing machine frame 10. The pad printing head cleaning mechanism 14 includes a cleaning forward pushing drive device 141 and a forward pushing carrier plate 142 connected to the cleaning forward pushing drive device 141. A cleaning bracket 143 is provided at one end of the forward pushing carrier plate 142. A sticker output tray 144 is provided at the upper end of the cleaning bracket 143, and a sticker recycling rotating tray 145 is provided at the lower end of the cleaning bracket 143. A cleaning carrier plate 146 is provided at the other end of the forward pushing carrier plate 142. Sticker rotating rollers 147 are provided at both ends of the cleaning carrier plate 146. The sticker output from the sticker output tray 144 returns to the sticker recycling rotating tray 145 after passing through the two sticker rotating rollers 147. At this time, the sticker adhesion surface of the cleaning carrier plate 146 faces upward. The cleaning carrier plate 146 is driven by the cleaning forward pushing drive device 141 to move to directly below the two lifting pad printing heads 105. This design can effectively clean the lifting pad printing heads 105 regularly.

[0028] In this embodiment, the loading and unloading robot 9 includes a four-axis robot 91. A U-shaped mounting plate 92 is provided at the end of the four-axis robot 91. First lifters 93 are symmetrically provided at both ends of both sides of the U-shaped mounting plate 92. External clamping cylinders 94 are installed on the two first lifters 93 on the same side at one end, and first internal supporting clamping jaw cylinders 95 adapted to the jaw avoidance grooves 75 are installed on the two first lifters 93 on the same side at the other end. The external clamping cylinder 94 is used to clamp the product from the outside, and the first internal supporting clamping jaw cylinder 95 is used to clamp the product 1a from the inside. The product 1a is a watch case.

[0029] In this embodiment, the pallet positioning and clamping device 6 includes a pallet lifting mechanism 61, and the left and right ends of the pallet lifting mechanism 61 are respectively provided with a blocker 62 and an assembly line backstop 63. The blocker 62 is used to prevent the pallet 5 from continuing to flow forward after it is in place, and the assembly line backstop 63 is used to prevent the pallet 2 from flowing back. Pallet incoming material sensors 64 are provided below the left and right ends of the pallet lifting mechanism 61, and pallet pressing plates 65 are provided on all sides above the pallet lifting mechanism 61. The pallet lifting mechanism 61 is used to lift the pallet on the pallet conveying device 4 and press it tightly against the pallet pressing plate 6 5; A CCD camera assembly 66 is provided at the top inner portion of the hood 12 and directly above the pallet lifting mechanism 61, and the CCD camera assembly 66 is used to photograph the real-time position of each product 1a on the pallet 5; the CCD camera assembly 66 is used to photograph the real-time position of each product 1a on the pallet 5. Since the loading and unloading robot 9 may vibrate other products 1a to be processed when taking and placing products 1a, thereby affecting the initial position of the products 1a on the pallet 5, the CCD camera assembly 66 is required to locate and photograph the products 1a to be taken in real time each time the loading and unloading robot 9 takes materials.

[0030] In this embodiment, a product flipping device 15 is provided on the other side between the double movable module 7 and the pallet positioning and clamping device 6. The product flipping device 15 includes a lifting drive device 151 and a flip cylinder 152 connected to the lifting drive device 151 and a flip swing arm 153 connected to the flip cylinder 152. The lower end of the flip swing arm 153 is arrayed with four second internally supported clamping cylinders 154. The four second internally supported clamping cylinders 154 are respectively located directly above the two carrier assemblies 8 when they move to the front end. The two ends of the flip cylinder 152 are symmetrically provided with swing arm in-place buffers 155. The swing arm in-place buffers 155 are located in the swing stroke of the flip swing arm 153 and are used to control the flipping. The swing arm 153 rotates between 0° and 180°; this design allows the product to be turned over after processing, making it convenient for the next step to directly process the back side, saving the time cost of manual turning. The specific operation is to drive the flip swing arm 153 to rotate 180° through the flip cylinder 152, so that the second internal support type clamp cylinder 154 is located directly above the front end carrier assembly 8, and then the second internal support type clamp cylinder 154 is driven to descend through the lifting drive device 151, so that two of the second internal support type clamp cylinders 154 respectively enter the two clamp avoidance grooves 75 in the carrier assembly 8, and then start the second internal support type clamp cylinder 154 to expand and clamp the product 1a, and then the lifting drive device 151 is reset, and then the flip cylinder 152 is reset to wait for the loading and unloading robot 9 to unload.

[0031] In this embodiment, the working process of the utility model is as follows: manually stacking pallets to the pallet loading mechanism, conveying the pallet at the bottom of the pallet loading mechanism to the pallet positioning and clamping device through the pallet conveying device, and then lifting the pallet and pressing it against the pallet pressure plate through the pallet positioning and clamping device, and then photographing the position of the product to be taken in the pallet through the CCD camera component, and then clamping the product by the first internal support claw cylinder of the loading and unloading robot and placing it into the carrier assembly moved to the front end by the double moving module, and then moving the carrier assembly loaded with the product to the bottom of the pad printing device for pad printing through the double moving module, and the carrier assembly originally at the back moves to the front end, and while the laser engraving is in progress The loading and unloading robots can continue to load materials into the carrier assembly at the front end. After the pad printing is completed, the dual mobile modules reset, driving the carrier assembly of the processed products at the back end to move to the front end, and the carrier assembly of the products to be processed at the front end moves to the back end to continue the next pad printing operation. At the same time, the product turning device is used to take out the processed products in the carrier and turn them over. Then, the loading and unloading robots continue to put new products to be processed into the carrier assembly at the front end. Then, the loading and unloading robots unload the products clamped by the product turning device into the pallet until the products on the pallet are processed. The pallet is transported to the pallet unloading mechanism for stacking through the pallet conveying device.

[0032] The utility model is applied to the technical field of pad printing devices.

[0033] Although the embodiments of the present invention are described with practical solutions, they do not limit the meaning of the present invention. For those skilled in the art, it is obvious to modify the implementation scheme and combine it with other solutions based on this description.

Claims

1. An automatic pad printing machine, characterized by: It comprises a first frame (1), wherein a pallet loading mechanism (2) and a pallet unloading mechanism (3) are respectively provided at both ends of the first frame (1), a pallet conveying device (4) is provided between the pallet loading mechanism (2) and the pallet unloading mechanism (3), the pallet loading mechanism (2) and the pallet unloading mechanism (3) are used to stack pallets (5), wherein a plurality of products (1a) are placed in the pallet (5), a pallet positioning clamping device (6) is provided in the middle of the pallet conveying device (4), a double movable module (7) is provided at the front end of the pallet positioning clamping device (6), and a pallet conveying device (7) is provided on the double movable module (7). Two carrier assemblies (8) are provided, and the two carrier assemblies (8) are driven to reciprocate in the double movable module (7), and when one carrier assembly (8) is kept at the front end of the double movable module (7), the other carrier assembly (8) is located at the rear end of the double movable module (7), a loading and unloading robot (9) is provided on one side between the double movable module (7) and the pallet positioning clamping device (6), a pad printing frame (10) is provided at the rear end of the double movable module (7), and a pad printing device (11) located above the rear end of the double movable module (7) is provided on the pad printing frame (10).

2. The automatic pad printing machine according to claim 1, characterized in that: A hood (12) is provided on the first frame (1), the tray conveying device (4) is located inside the hood (12), an MCU controller (13) is integrated on the hood (12), and the tray loading mechanism (2), the tray unloading mechanism (3), the tray conveying device (4), the tray positioning and clamping device (6), the dual-moving module (7), the loading and unloading robot (9) and the pad printing device (11) are all electrically connected to the MCU controller (13).

3. The automatic pad printing machine according to claim 1, characterized in that: The double movable module (7) includes a first supporting base plate (71), the front end of the first supporting base plate (71) is fixed to the first frame (1), the rear end of the first supporting base plate (71) extends out of the first frame (1) and is located above the pad printing frame (10), the first supporting base plate (71) is symmetrically provided with linear drive modules (72), the two carrier assemblies (8) are respectively installed on the two linear drive modules (72), the carrier assembly (8) includes a carrier base plate (73), the carrier base plate (73) is provided with two carrying slots (74) adapted to the product (1a), and the interior of the carrying slot (74) is provided with a clamping claw avoidance slot (75).

4. The automatic pad printing machine according to claim 3, characterized in that: A lifting support platform (101) and a hand-cranked lifting screw rod (102) connected to the lifting support platform (101) are installed at the side end of the pad printing machine frame (10). The lifting support platform (101) is driven by the hand-cranked lifting screw rod (102) to move to the bottom at the rear end of the first support bottom plate (71). The pad printing device (11) includes two pad printing grooves (103), and pad printing liquid is installed in each of the pad printing grooves (103). A pad printing transverse movement device (104) is provided on the pad printing machine frame (10). Two lifting pad printing heads (105) are provided on the lower side of the front end of the pad printing transverse movement device (104), and two pad printing smoothing heads (106) are provided on the lower side of the rear end of the pad printing transverse movement device (104). The two lifting pad printing heads (105) move between the pad printing grooves (103) and the two linear drive modules (72) under the drive of the pad printing transverse movement device (104).

5. The automatic pad printing machine according to claim 4, characterized in that: A pad printing head cleaning mechanism (14) is provided at the rear end of the pad printing machine frame (10). The pad printing head cleaning mechanism (14) includes a cleaning forward push drive device (141) and a forward push carrier plate (142) connected to the cleaning forward push drive device (141). A cleaning bracket (143) is provided at one end of the forward push carrier plate (142). A sticker output tray (144) is provided at the upper end of the cleaning bracket (143), and a sticker recycling rotating tray (145) is provided at the lower end of the cleaning bracket (143). A cleaning carrier plate (146) is provided at the other end of the forward push carrier plate (142). Sticker rotating rollers (147) are provided at both ends of the cleaning carrier plate (146). The sticker output from the sticker output tray (144) returns to the sticker recycling rotating tray (145) after passing through the two sticker rotating rollers (147). At this time, the sticker sticking surface of the cleaning carrier plate (146) faces upward. The cleaning carrier plate (146) is driven by the cleaning forward push drive device (141) to move to directly below the two lifting pad printing heads (105).

6. The automatic pad printing machine according to claim 3, characterized in that: The loading and unloading robot (9) includes a four-axis robot (91). A U-shaped mounting plate (92) is provided at the end of the four-axis robot (91). First lifters (93) are symmetrically provided at both ends of both sides of the U-shaped mounting plate (92). External clamping cylinders (94) are installed on the two first lifters (93) on the same side of one end, and first internal supporting clamping cylinders (95) adapted to the jaw avoidance grooves (75) are installed on the two first lifters (93) on the same side of the other end. The external clamping cylinder (94) is used to clamp the product from the outside, and the first internal supporting clamping cylinder (95) is used to clamp the product (1a) from the inside. The product (1a) is a watch case.

7. The automatic pad printing machine according to claim 2, characterized in that: The pallet positioning and clamping device (6) includes a pallet lifting mechanism (61), wherein the left and right ends of the pallet lifting mechanism (61) are respectively provided with a blocker (62) and an assembly line check (63), and pallet incoming material sensors (64) are provided below the left and right ends of the pallet lifting mechanism (61). Pallet pressing plates (65) are provided on all four sides above the pallet lifting mechanism (61), and the pallet lifting mechanism (61) is used to lift and press the pallet on the pallet conveying device (4) onto the pallet pressing plates (65). A CCD camera assembly (66) is provided at the top of the inner part of the hood (12) and directly above the pallet lifting mechanism (61), and the CCD camera assembly (66) is used to photograph the real-time position of each product (1a) on the pallet (5).

8. The automatic pad printing machine according to claim 3, characterized in that: A product flipping device (15) is provided on the other side between the double movable module (7) and the pallet positioning clamping device (6), and the product flipping device (15) includes a lifting drive device (151) and a flip cylinder (152) connected to the lifting drive device (151), and a flip swing arm (153) connected to the flip cylinder (152). The lower end of the flip swing arm (153) is arrayed with four second internally supported clamping cylinders (154), and the four second internally supported clamping cylinders (154) are respectively located directly above the two carrier assemblies (8) when they move to the front end. Swing arm in-position buffers (155) are symmetrically provided at both ends of the flip cylinder (152), and the swing arm in-position buffers (155) are located in the swing stroke of the flip swing arm (153) and are used to control the rotation of the flip swing arm (153) between 0° and 180°.

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