Double-stacked motor device for servo clamping jaw

Abstract

The utility model discloses a double-folding motor device for a servo clamping jaw, which belongs to the technical field of servo clamping jaw driving and comprises a shell, a front hollow shaft motor and a rear motor are arranged in the shell, the front hollow shaft motor is connected with a front hollow shaft motor shaft, the front hollow shaft motor shaft is connected with a front motor shaft output disc, and the rear motor shaft output disc is connected with a rear motor shaft output disc. The front motor shaft output disc is connected with a clamping jaw finger shell; the rear motor is connected with a rear motor shaft, the rear motor shaft penetrates through the front hollow shaft motor shaft and extends into the clamping jaw finger shell to be connected with a rear motor shaft gear, the rear motor shaft gear is connected with a clamping jaw finger rack, and the clamping jaw finger rack is connected with a clamping jaw finger mounting plate. According to the scheme, accurate grabbing control can be achieved, the grabbing requirements of workpieces in different shapes are met, the response speed is high, the grabbing flexibility is high, the control strategy is simpler and more direct, control is easy, the intelligent degree is high, and the external anti-interference capacity is high.

Description

Technical Field

[0001] The utility model relates to the technical field of servo clamping claw driving, in particular to a double-stacked motor device for a servo clamping claw. Background Art

[0002] With the rapid development of industrial automation, robotics technology is becoming increasingly mainstream in the industrial sector, particularly in applications requiring repetitive tasks such as material handling and parts processing. Within robotic systems, servo grippers, acting as the robot's hands and responsible for grasping and placing workpieces or parts on the production line, are a crucial component of robotic systems and an essential piece of equipment on automated production lines.

[0003] In the field of industrial automation, servo grippers are used with different robots, and their shape, size, style, load capacity, etc. will vary. Among them, parallel grippers are a relatively common type of gripper used in modern industrial automation.

[0004] However, since the parallel gripper is a pneumatic gripper and adopts a pneumatic mode, the gripping force is limited and the gripping force cannot be controlled. In addition, the response speed is slow, the gripping efficiency is low, the degree of intelligence is relatively low, and the ability to resist external interference is poor, which greatly affects the further automation and intelligent development of the industry. Utility Model Content

[0005] In response to the above-mentioned deficiencies in the prior art, the utility model provides a double-stack motor device for a servo gripper; the double-stack motor device for a servo gripper is specially designed for parallel grippers. This solution can achieve precise grasping control to meet the grasping requirements of workpieces of different shapes, has a fast response speed, high grasping flexibility, a simpler and more direct control strategy, is easy to control, has a high degree of intelligence, and has strong anti-interference ability against external interference.

[0006] In order to solve the above technical problems, the utility model provides a double-stack motor device for a servo gripper, comprising a housing, a front hollow shaft motor and a rear motor are arranged in the housing, the front hollow shaft motor is connected to a front hollow shaft motor shaft, the front hollow shaft motor shaft is connected to a front motor shaft output disk, and the front motor shaft output disk is connected to the gripper finger housing;

[0007] The rear motor is connected to the rear motor shaft, and the rear motor shaft passes through the front hollow shaft motor shaft and extends into the gripper finger housing and is connected to the rear motor shaft gear, and the rear motor shaft gear is connected to the gripper finger rack, and the gripper finger rack is connected to the gripper finger mounting plate, and the gripper finger mounting plate is connected to the gripper finger mounting plate slider, and the gripper finger mounting plate slider is slidably connected to the gripper finger mounting plate slider guide, and the gripper finger mounting plate slider guide is installed on the inner wall of the gripper finger housing.

[0008] In a further improvement of the present invention, one end of the shell is connected to a mounting flange, and the mounting flange is provided with an alignment boss, a motor bearing oil filling hole, a rear motor fixed countersunk mounting hole and a double-stacked motor servo clamp mounting bolt hole.

[0009] Through the above design, this solution can more easily connect the housing with other components.

[0010] In a further improvement of the present invention, a dual-motor wire hole is provided in the middle of the shell, and the wires of the front hollow shaft motor and the rear motor respectively pass through the dual-motor wire hole and extend to the outside of the shell.

[0011] Through the above design, this solution can more easily lead out and connect the wires of the front hollow shaft motor and the rear motor.

[0012] In a further improvement of the present invention, a front motor mounting seat is provided at the other end of the shell, and a front motor fixing screw, a shell fixing screw and a through hole are provided on the front motor mounting seat. The front motor fixing screw is connected to the front hollow shaft motor, the shell fixing screw is connected to the shell, and the front hollow shaft motor shaft passes through the through hole and is connected to the front motor shaft output disk.

[0013] Through the above design, this solution can more easily install the front motor mounting base, the front hollow shaft motor and the housing.

[0014] In a further improvement of the present invention, a front motor shaft output disc top screw is provided on the front motor shaft output disc, and the front motor shaft output disc top screw is connected to the front hollow shaft motor shaft.

[0015] Through the above design, this solution can more easily install the front motor shaft output disc.

[0016] In a further improvement of the present invention, the gripper finger housing is provided with a gripper finger housing front motor shaft output disk connecting screw, and the gripper finger housing front motor shaft output disk connecting screw is connected to the front motor shaft output disk.

[0017] Through the above design, this solution can more easily connect the gripper finger housing and the front motor shaft output disk.

[0018] In a further improvement of the present invention, a clamping finger mounting plate rack fixing hole is provided on the clamping finger rack, and the clamping finger mounting plate rack fixing hole is connected to the clamping finger mounting plate.

[0019] Through the above design, this solution can more easily connect the gripper finger mounting plate and the gripper finger rack.

[0020] In a further improvement of the present invention, the gripper finger rack includes a rack I and a rack II, the gripper finger mounting plate includes a mounting plate I and a mounting plate II, the gripper finger mounting plate slider includes a slider I and a slider II, and the gripper finger mounting plate slider guide includes a guide rail I and a guide rail II;

[0021] The rack I is connected to the mounting plate I, the mounting plate I is connected to the slider I, and the slider I is slidably connected to the guide rail I;

[0022] The rack II is connected to the mounting plate II, the mounting plate II is connected to the slider II, and the slider II is slidably connected to the guide rail II.

[0023] Through the above design, this solution can be more convenient for grasping.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] This utility model is specially designed for parallel grippers. This solution can achieve precise grasping control to meet the grasping needs of workpieces of different shapes. It has fast response speed, high grasping flexibility, simpler and more direct control strategy, easy control, high degree of intelligence, and strong anti-interference ability against external interference. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the background technology or the technical solution of the present invention, the following is a brief introduction to the drawings used in conjunction with the prior art or specific implementation methods; obviously, the structures, proportions, sizes, etc. illustrated in the drawings of the specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the conditions for the implementation of the present invention, so they have no technical significance. Any modification of the structure, change in the proportional relationship or adjustment of the size should still fall within the scope of the technical content disclosed by the present invention without affecting the efficacy and purpose that can be achieved by the present invention.

[0027] Figure 1 This is a schematic diagram of the external structure of a specific embodiment of the utility model from the first perspective.

[0028] Figure 2 This is a schematic structural diagram of the external structure of a specific implementation method of the utility model from a second perspective.

[0029] Figure 3 This is a schematic diagram of the first perspective of the decomposed structure of a specific embodiment of the present utility model.

[0030] Figure 4 This is a schematic diagram of the exploded structure of a specific embodiment of the present utility model from a second perspective.

[0031] Figure 5It is a schematic diagram of the internal structure of a specific implementation method of the utility model.

[0032] As shown in the figure: 1. Mounting flange; 2. Alignment boss; 3. Motor bearing oil filling hole; 4. Rear motor fixed countersunk mounting hole; 5. Double-stack motor servo gripper mounting bolt hole; 6. Double motor wire hole; 7. Housing; 8. Rear motor; 9. Front hollow shaft motor; 10. Wire; 11. Front hollow shaft motor shaft; 12. Rear motor shaft; 13. Front motor mounting seat; 14. Front motor fixing screw; 141. Housing fixing screw; 15. Front motor shaft output disk; 16. Front motor shaft output disk top screw; 17. Gripper finger housing; 18. Gripper finger housing front motor shaft output disk connecting screw; 19. Rear motor shaft gear; 20. Gripper finger rack; 21. Gripper finger mounting plate rack fixing hole; 22. Gripper finger mounting plate; 23. Gripper finger mounting plate slider; 24. Gripper finger mounting plate slider guide. DETAILED DESCRIPTION

[0033] In order to enable people skilled in the art to better understand the technical solutions in the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative work should fall within the scope of protection of the present invention.

[0034] At the same time, the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like cited in this specification indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention. Changes or adjustments to their relative relationships, without substantially changing the technical content, should also be regarded as the scope of implementation of the present invention.

[0035] At the same time, in the description of this specification, it should be noted that, unless otherwise clearly stipulated and limited, the terms "installation", "connection" and "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 or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be a connection between the internal parts of two components. For ordinary technicians in this field, the specific meanings of the above terms in this utility model can be understood according to specific circumstances.

[0036] At present, since the parallel gripper is a pneumatic gripper and adopts a pneumatic mode, the gripping force is limited and the gripping force cannot be controlled. In addition, the response speed is slow, the gripping efficiency is low, the degree of intelligence is relatively low, and the ability to resist external interference is poor, which greatly affects the further automation and intelligent development of the industry.

[0037] Therefore, the design concept of this application is to abandon the traditional pneumatic drive and design it as a motor drive to achieve precise grasping control to meet the grasping needs of workpieces of different shapes, with fast response speed, high grasping flexibility, simpler and more direct control strategy, easy to control, high degree of intelligence, and strong anti-interference ability from the outside world.

[0038] like Figure 1-Figure 5 As shown, the present application provides a double-stack motor device for a servo gripper, comprising a housing 7, wherein a front hollow shaft motor 9 and a rear motor 8 are disposed in the housing 7, wherein the front hollow shaft motor 9 is connected to a front hollow shaft motor shaft 11, wherein the front hollow shaft motor shaft 11 is connected to a front motor shaft output disk 15, and wherein the front motor shaft output disk 15 is connected to a gripper finger housing 17;

[0039] The rear motor 8 is connected to the rear motor shaft 12, and the rear motor shaft 12 passes through the front hollow shaft motor shaft 11 and extends into the gripper finger housing 17 and is connected to the rear motor shaft gear 19, and the rear motor shaft gear 19 is connected to the gripper finger rack 20, and the gripper finger rack 20 is connected to the gripper finger mounting plate 22, and the gripper finger mounting plate 22 is connected to the gripper finger mounting plate slider 23, and the gripper finger mounting plate slider 23 is slidably connected to the gripper finger mounting plate slider guide rail 24, and the gripper finger mounting plate slider guide rail 24 is installed on the inner wall of the gripper finger housing 17.

[0040] The working principle of the double-stack motor device for the servo gripper includes the following:

[0041] The front hollow shaft motor 9 is placed in the housing 7. The rotation of the front hollow shaft motor 9 drives the front motor shaft output disk 15 to rotate. The front motor shaft output disk 15 drives the gripper finger housing 17 to rotate 360 ​​degrees without dead angles, and makes its internal structure perform the same rotational motion.

[0042] The rear motor 8 placed in the housing 7 transmits the torque to the gripper finger rack 20 through the rear motor shaft gear 19, and the gripper finger rack 20 drives the corresponding finger mechanism to perform the grasping action.

[0043] By utilizing the superimposed output of the two motors, the rear motor 8 drives the corresponding mechanism to complete the grasping action, and the front hollow shaft motor 9 drives the corresponding mechanism to rotate 360 ​​degrees without dead angles. The two motors cooperate to complete the 360-degree grasping work without dead angles. The rear motor 8 can achieve the clamping holding force of the adaptive clamping mode, and the front hollow shaft motor 9 realizes 360-degree free rotation. Through the independent control of the two motors, different grasping tasks can be completed.

[0044] Among them, one end of the shell 7 is connected to a mounting flange 1, and the mounting flange 1 is provided with an alignment boss 2, a motor bearing oil filling hole 3, a rear motor fixed countersunk mounting hole 4 and a double-stacked motor servo clamp mounting bolt hole 5; when in use, the bolts and the above-mentioned structure are used to carry out subsequent installation of the device.

[0045] Among them, a dual motor wire hole 6 is provided in the middle of the outer shell 7, and the wires 10 of the front hollow shaft motor 9 and the rear motor 8 respectively pass through the dual motor wire holes 6 and extend to the outside of the outer shell 7; the wires 10 of the front hollow shaft motor 9 and the rear motor 8 pass through the dual motor wire holes 6 and extend to the outside of the outer shell 7 for power connection, etc.

[0046] Among them, the other end of the outer shell 7 is provided with a front motor mounting seat 13, and the front motor mounting seat 1 is provided with a front motor fixing screw 14, an outer shell fixing screw 141 and a through hole. The front motor fixing screw 14 is connected to the front hollow shaft motor 9, and the outer shell fixing screw 141 is connected to the outer shell 7. The front hollow shaft motor shaft 11 passes through the through hole and is connected to the front motor shaft output disk 15; during installation, the outer shell 7, the front hollow shaft motor 9 and the front motor mounting seat 13 are connected through the above-mentioned component structure.

[0047] Among them, a front motor shaft output disc top screw 16 is provided on the front motor shaft output disc 15, and the front motor shaft output disc top screw 16 is connected to the front hollow shaft motor shaft 11; during installation, the front motor shaft output disc top screw 16 connects the front motor shaft output disc 15 to the front hollow shaft motor shaft 11.

[0048] Among them, the gripper finger housing 17 is provided with a gripper finger housing front motor shaft output disk connecting screw 18, and the gripper finger housing front motor shaft output disk connecting screw 18 is connected to the front motor shaft output disk 15; during installation, the gripper finger housing front motor shaft output disk connecting screw 18 connects the gripper finger housing 17 with the front motor shaft output disk 15.

[0049] Among them, the gripper finger rack 20 is provided with a gripper finger mounting plate rack fixing hole 21, and the gripper finger mounting plate rack fixing hole 21 is connected to the gripper finger mounting plate 22; during installation, the gripper finger mounting plate rack fixing hole 21 connects the gripper finger rack 20 to the gripper finger mounting plate 22 through bolts.

[0050] The gripper finger rack 20 includes a rack I and a rack II, the gripper finger mounting plate 22 includes a mounting plate I and a mounting plate II, the gripper finger mounting plate slider 23 includes a slider I and a slider II, and the gripper finger mounting plate slider guide rail 24 includes a guide rail I and a guide rail II;

[0051] The rack I is connected to the mounting plate I, the mounting plate I is connected to the slider I, and the slider I is slidably connected to the guide rail I;

[0052] The rack II is connected to the mounting plate II, the mounting plate II is connected to the slider II, and the slider II is slidably connected to the guide rail II; when in use, the two racks I and rack II of the gripper finger rack 20 move in opposite directions under the rotation of the rear motor shaft gear 19, approaching or moving away, thereby completing the grasping and releasing action.

[0053] Analyze the defects and causes of existing technologies:

[0054] 1. The gripping force is limited, and the gripping force cannot be controlled. Objects of inconsistent weights cannot be gripped, and the gripping force of the gripped object cannot be adapted to the gripping force. The reason is that the existing gripping methods mostly use pneumatic modes, which cannot provide controllable gripping force.

[0055] 2. The grasping accuracy is not high; Reason: lack of precise force control and sensing, unable to achieve high-precision flexibility; adaptive grasping.

[0056] 3. Narrow scope of application and single crawling mode; Reason: Existing technology mainly focuses on a specific crawling mode and has a limited scope of application.

[0057] 4. Slow response speed and low grasping efficiency; Reason: The air pressure difference is generated by the vacuum generator or vacuum pump as the power source, and the response speed is slow, which limits the grasping speed.

[0058] 5. Low level of intelligence; Reason: Existing technologies generally lack sensor feedback and intelligent control.

[0059] 6. Poor anti-interference ability; Reason: easily affected by external environmental vibration and other interference, the grasping operation is unstable.

[0060] To sum up, improving grasping performance and intelligence is the direction that this servo gripper double-stack motor technology needs to break through.

[0061] Research directions of this application:

[0062] 1. Improve the grasping force. The double-stack motor can provide greater output torque to meet the grasping needs of heavy-loaded workpieces.

[0063] 2. Improve grasping accuracy. Through the coordinated control of the double-stack motor, the grasping force can be adjusted more accurately, flexible grasping can be achieved, and grasping accuracy can be improved.

[0064] 3. Expand the grasping range. The double-stack motor has a wider range of applications. According to actual needs, it can be designed to grasp workpieces of different shapes, sizes and weights.

[0065] 4. Increase the grasping speed, the double-stack motor structure provides a high-speed grasping mode.

[0066] 5. Implement special grasping modes, such as compound grasping or symmetrical grasping.

[0067] 6. Simplified mechanism design, compared with complex robotic grippers, the double-stack motor gripper has a simple structure.

[0068] 7. Reduce manufacturing difficulty, the double-stacked motor structure is simple to manufacture and has lower cost.

[0069] 8. Improve control flexibility, the double-stack motor control strategy is more flexible and easy to realize intelligentization.

[0070] 9. Easy to integrate with robots and industrial robots to facilitate automated grasping.

[0071] To address the defects of these traditional pneumatic grippers, it is necessary to improve the precise torque control of the gripper motor, automatically control the motor output torque according to the actual application scenario, and expand the range of possible gripping modes; achieve precise gripping force control and adaptive gripping by optimizing the motor control strategy, design modular and standardized interfaces, and improve the flexibility of secondary development; develop advanced gripping algorithms to achieve intelligent gripping of workpieces of different shapes, surfaces, and weights; design a compact mechanical structure, optimize dynamic performance, and reduce the influence of inertia.

[0072] The invention objectives of this application are:

[0073] 1. To achieve precise grasping, the servo gripper can adjust the grasping force through the fine servo control program to achieve precise control of the force for grasping.

[0074] 2. Meet the grasping requirements of workpieces of different shapes, and adapt to the grasping of workpieces of different shapes, sizes and materials by automatically adjusting the grasping parameters.

[0075] 3. Improve the flexibility of grasping. Through the coordinated control of two motors, adaptive grasping of objects of different shapes and sizes can be achieved.

[0076] 4. Improve the grasping speed, the double-stack motor drive can achieve high-speed grasping.

[0077] 5. Expand the scope of application. The double-stack motor gripping has a wider scope of application, especially suitable for adaptive force gripping.

[0078] 6. Simplified control strategy: Compared with complex mechanisms, the double-stack motor control strategy is simpler and more direct.

[0079] 7. Reduce manufacturing costs. The dual-motor structure is simple to manufacture and has lower costs.

[0080] The torque control principle used in this application is as follows: one motor controls the clamping force of the gripper, and realizes closed-loop control of the clamping force through feedback from the force sensor; another motor controls the 360-degree rotational movement of the gripper without dead angles to realize the clamping and placement action, and completes the closed-loop control of the motion through feedback from the position / speed sensor.

[0081] The collaborative control of this application uses a collaborative control algorithm to coordinate the two motors in real time to optimize the clamping force and movement; precise clamping and accurate rotation angle, based on force / position dual closed-loop control, achieve accurate and reliable clamping and rotational movement to avoid product damage; flexible adaptation to various gripping operation environments, programmable control, and automatic adjustment of clamping force for products of different shapes and textures.

[0082] In summary, the invention of the intelligent servo gripper double-stack motor is designed to achieve precise force control and improve gripping efficiency. Its main purposes include:

[0083] 1. Achieve more precise grasping force and meet flexible grasping needs.

[0084] 2. Improve grasping accuracy and reliability through precise force control.

[0085] 3. Realize adaptive grasping, suitable for workpieces of different shapes, sizes and materials.

[0086] 4. Increase crawling redundancy and improve the robustness of the crawling system.

[0087] 5. Simplify the mechanism design and reduce the manufacturing difficulty.

[0088] 6. Integrate with sensors and control systems to achieve intelligent grasping.

[0089] 7. Provide modular and standardized interfaces to facilitate secondary development.

[0090] 8. Expand the scope of application and flexibility of grasping operations.

[0091] 9. Integrate with industrial robots to achieve automated grasping operations.

[0092] 10. Improve grasping efficiency and achieve high-speed and accurate grasping.

[0093] To sum up, this design aims to achieve flexible, efficient and precise grasping operations through intelligent control of servo motors.

[0094] Although the present invention has been described in detail with reference to the accompanying drawings and in combination with preferred embodiments, the present invention is not limited thereto. Without departing from the spirit and essence of the present invention, ordinary technicians in this field can make various equivalent modifications or substitutions to the embodiments of the present invention, and these modifications or substitutions should all be within the scope of the present invention. Any technician familiar with this technical field can easily think of changes or substitutions within the technical scope disclosed in the present invention, and they should all be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A double-stack motor device for a servo gripper, characterized in that: The front hollow shaft motor and the rear motor are provided in the housing, the front hollow shaft motor is connected to the front hollow shaft motor shaft, the front hollow shaft motor shaft is connected to the front motor shaft output disk, and the front motor shaft output disk is connected to the gripper finger housing; The rear motor is connected to the rear motor shaft, and the rear motor shaft passes through the front hollow shaft motor shaft and extends into the gripper finger housing and is connected to the rear motor shaft gear, and the rear motor shaft gear is connected to the gripper finger rack, and the gripper finger rack is connected to the gripper finger mounting plate, and the gripper finger mounting plate is connected to the gripper finger mounting plate slider, and the gripper finger mounting plate slider is slidably connected to the gripper finger mounting plate slider guide, and the gripper finger mounting plate slider guide is installed on the inner wall of the gripper finger housing.

2. The double-stack motor device for servo grippers according to claim 1, characterized in that: One end of the housing is connected to a mounting flange, and the mounting flange is provided with an alignment boss, a motor bearing oil filling hole, a rear motor fixed countersunk mounting hole and a double-stacked motor servo clamp mounting bolt hole.

3. The double-stack motor device for the servo gripper according to claim 1, characterized in that: A dual-motor wire hole is provided in the middle of the shell, and the wires of the front hollow shaft motor and the rear motor respectively pass through the dual-motor wire hole and extend to the outside of the shell.

4. The double-stack motor device for servo grippers according to claim 1, characterized in that: A front motor mounting seat is provided at the other end of the shell, and a front motor fixing screw, a shell fixing screw and a through hole are provided on the front motor mounting seat. The front motor fixing screw is connected to the front hollow shaft motor, and the shell fixing screw is connected to the shell. The front hollow shaft motor shaft passes through the through hole and is connected to the front motor shaft output disk.

5. The double-stack motor device for servo grippers according to claim 1, characterized in that: The front motor shaft output disc is provided with a front motor shaft output disc top screw, and the front motor shaft output disc top screw is connected to the front hollow shaft motor shaft.

6. The double-stack motor device for servo grippers according to claim 1, characterized in that: The gripper finger housing is provided with a gripper finger housing front motor shaft output disk connecting screw, and the gripper finger housing front motor shaft output disk connecting screw is connected to the front motor shaft output disk.

7. The double-stack motor device for servo grippers according to claim 1, characterized in that: The gripper finger rack is provided with a gripper finger mounting plate rack fixing hole, and the gripper finger mounting plate rack fixing hole is connected to the gripper finger mounting plate.

8. The double-stack motor device for servo grippers according to claim 1, characterized in that: The gripper finger rack includes a rack I and a rack II, the gripper finger mounting plate includes a mounting plate I and a mounting plate II, the gripper finger mounting plate slider includes a slider I and a slider II, and the gripper finger mounting plate slider guide includes a guide rail I and a guide rail II; The rack I is connected to the mounting plate I, the mounting plate I is connected to the slider I, and the slider I is slidably connected to the guide rail I; The rack II is connected to the mounting plate II, the mounting plate II is connected to the slider II, and the slider II is slidably connected to the guide rail II.

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