Spring clamping and carrying device

Abstract

The utility model relates to a spring clamping and carrying device which comprises a carrying mechanism and a clamping mechanism installed on the carrying mechanism. The clamping mechanism comprises a first clamping plate, a second clamping plate, a first clamp and a second clamp, the second clamping plate is mounted on the first clamping plate, a first mounting gap is formed between the front side of the second clamping plate and the front side of the first clamping plate, and the first clamp and the second clamp are slidably mounted in the first mounting gap in the transverse direction; a driving part and a gear transmission assembly are installed on the second clamping plate, and the driving part is in driving connection with the first clamp and the second clamp through the gear transmission assembly and used for driving the first clamp and the second clamp to get close to each other to clamp the spring or get away from each other to release the spring. The spring clamping and carrying device has the beneficial effects that through the carrying mechanism and the clamping mechanism installed on the carrying mechanism, manual work can be replaced, mechanical clamping and carrying of springs are achieved, meanwhile, the spring assembling efficiency is improved, and the requirement for batch production is met.

Description

TECHNICAL FIELD

[0001] The utility model relates to mechanical equipment assembly technical field especially relates to a spring clamping and carrying device. BACKGROUND

[0002] Spring is the part of elastic material (such as spring steel), under the action of external force, can be deformed, removes the external force and restores the original state, and its wide application in various mechanical equipment.

[0003] At present, in the mechanical equipment assembly process, the assembly of spring is through the manual way clamping and moving, that is, the worker manually takes spring, and then installs on various mechanical equipment, and the defects and deficiencies of this kind of mode are that: (1) spring is relatively small, and the worker is not easy to take, which makes the clamping and carrying efficiency of spring low, and is not suitable for batch production needs, (2) flow line operation, resulting in the heavy labor intensity of manual clamping and carrying, (3) the labor cost is also higher.

[0004] Therefore, it is urgent to provide a spring clamping and carrying device which can replace manual work and has higher clamping and carrying efficiency. UTILITY MODEL CONTENT

[0005] (I) technical problem to be solved

[0006] In view of the above-mentioned defects and deficiencies of the prior art, the utility model provides a spring clamping and carrying device, which solves the technical problem of low efficiency of manual clamping and assembling spring.

[0007] (II) technical scheme

[0008] In order to achieve the above-mentioned purpose, the main technical scheme adopted by the utility model comprises:

[0009] The utility model embodiment provides a spring clamping and carrying device, which comprises a carrying mechanism and a clamping mechanism installed on the carrying mechanism.

[0010] The clamping mechanism comprises a first clamping plate, a second clamping plate, a first clamp and a second clamp, the second clamping plate is installed on the first clamping plate, and the front side of the second clamping plate and the front side of the first clamping plate have a first installation gap, the first clamp and the second clamp are installed in the first installation gap and slide along the transverse direction, the second clamping plate is provided with a driving component and a gear transmission assembly, the driving component is connected with the first clamp and the second clamp through the gear transmission assembly to drive the first clamp and the second clamp to approach each other to clamp the spring or to move away from each other to release the spring.

[0011] Optionally, the first clamp and the second clamp each comprise an integral clamping part and a connecting part.

[0012] The clamping part is a strip-shaped plate, the lower surface of the front end of the strip-shaped plate is provided with a hook-shaped part bent inward, the clamping parts of the first clamp and the second clamp are arranged symmetrically left and right, the connecting part is a trapezoidal plate, the rear end of the trapezoidal plate is provided with a sliding bar extending in the transverse direction, the sliding bars of the connecting parts of the first clamp and the second clamp are stacked together upward and downward, and can slide relative to each other;

[0013] The connecting parts of the first clamp and the second clamp are stacked together, the first guiding structure is arranged on the connecting part, the second guiding structure is arranged on one side of the first mounting gap, and the second guiding structure is matched with the first guiding structure to slide the connecting part into the first mounting gap.

[0014] Optionally, the first guiding structure is a guiding groove extending in the transverse direction and arranged on the connecting part, and the second guiding structure is a guiding protrusion extending in the transverse direction and arranged on the second clamp plate.

[0015] Optionally, the second clamp plate is provided with a limiting part on the side of the first clamp and the second clamp.

[0016] Optionally, the gear transmission assembly comprises first driving gears and second driving gears with the same number of teeth, and the first driving gears and the second driving gears are symmetrical relative to the clamping surface of the first clamp and the second clamp when the first clamp and the second clamp are close to each other.

[0017] The sliding bars of the connecting parts of the first clamp and the second clamp are each provided with a walking tooth on one side of the first mounting gap, the first driving gears and the second driving gears are rotatably arranged in the first mounting gap corresponding to the mounting area of the connecting part, the first driving gears and the second driving gears are arranged upward and downward in a staggered manner, one of the first driving gears and the second driving gears is engaged with the walking tooth of the first clamp, and the other of the first driving gears and the second driving gears is engaged with the walking tooth of the second clamp.

[0018] Optionally, the gear transmission assembly further comprises a first transmission gear, a second transmission gear, a first transmission shaft, a third transmission gear, a fourth transmission gear, and a second transmission shaft.

[0019] The second clamp plate rotatably supports the first transmission shaft, one end of the first transmission shaft away from the first mounting gap is provided with the first transmission gear in driving connection with the driving part, the other end of the first transmission shaft is provided with the second transmission gear, the two ends of the second transmission shaft are rotatably supported on the first clamp plate and the second clamp plate respectively, and the middle part of the second transmission shaft is fixedly sleeved with the third transmission gear engaged with the second transmission gear and the fourth transmission gear engaged with the first driving gear.

[0020] Optionally, the gear transmission assembly further comprises a first transmission gear, a second transmission gear, a first transmission shaft, a third transmission gear, a fourth transmission gear, and a second transmission shaft.

[0021] The first transmission shaft is rotationally supported by the second clamping plate, one end of the first transmission shaft away from the first mounting gap is provided with a first transmission gear in driving connection with the driving component, the other end of the first transmission shaft is provided with a second transmission gear with a smaller number of teeth than the first transmission gear, both ends of the second transmission shaft are rotationally supported by the first clamping plate and the second clamping plate respectively, the second transmission shaft is sequentially provided with a third transmission gear and a fourth transmission gear with a smaller number of teeth than the third transmission gear from top to bottom, the third transmission gear is in mesh with the second transmission gear, and the fourth transmission gear is in mesh with the first driving gear.

[0022] Optionally, the clamping mechanism further comprises a third clamping plate, the third clamping plate is mounted on the second clamping plate, and a second mounting gap for accommodating the first transmission gear is formed between the front side of the third clamping plate and the front side of the second clamping plate.

[0023] Optionally, the driving component comprises a motor and a driving gear.

[0024] The side of the third clamping plate away from the second clamping plate is provided with a motor support, the motor is mounted in the motor support, the rotating shaft of the motor passes through the third clamping plate and is connected with the driving gear in the second mounting gap, and the driving gear is in mesh with the first transmission gear.

[0025] Optionally, the number of teeth of the driving gear is 17, the number of teeth of the first transmission gear is 50, the number of teeth of the second transmission gear is 17, the number of teeth of the third transmission gear is 43, the number of teeth of the fourth transmission gear is 17, the number of teeth of the first driving gear is 35, and the number of teeth of the second driving gear is 35.

[0026] Optionally, the carrying mechanism is a mechanical arm, the first clamping plate and the second clamping plate are provided with a mechanical arm connecting port, the fixed end of the mechanical arm is arranged on the working surface, and the free end of the mechanical arm is connected with the mechanical arm connecting port.

[0027] (Three) beneficial effects

[0028] The utility model discloses a beneficial effect is: the utility model discloses a spring clamping and carrying device, including carrying mechanism and the clamping mechanism of installation on carrying mechanism, the clamping mechanism includes first clamping plate, second clamping plate, first clamp and second clamp, installs second clamping plate on first clamping plate, and there is first installation gap between the front side of second clamping plate and the front side of first clamping plate, and first clamp and second clamp are installed in first installation gap and slide along the transverse, the driving part and gear transmission assembly are installed on second clamping plate, and driving part forms drive connection with first clamp, second clamp through gear transmission assembly, to drive first clamp and second clamp and be close to each other and hold spring, or mutually far away and release spring, relative to prior art, the driving part of clamping mechanism can drive first clamp and second clamp and be close to each other through gear transmission assembly, make clamping mechanism hold spring, and carrying mechanism can drive clamping mechanism and spring and move to the predetermined position when line spring assembly, and it replaces artificial, realizes mechanized clamping and carries spring, improves spring assembly efficiency simultaneously, can satisfy the need of batch production. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 It is the top view schematic drawing of the clamping mechanism of the utility model's spring clamping and carrying device embodiment 1, and the clamping mechanism includes second clamping plate, third clamping plate, motor support, first clamp and second clamp are shown therein;

[0030] Figure 2 It is the side view schematic drawing of first clamping plate, second clamping plate, third clamping plate and motor support of the utility model's clamping mechanism embodiment 1;

[0031] Figure 3 It is the bottom view schematic drawing of the utility model's clamping mechanism's embodiment 1 to remove first clamping plate;

[0032] Figure 4 It is the top view schematic drawing of first clamp and second clamp in Figure 1 ;

[0033] Figure 5 It is the side view schematic drawing of first clamp and second clamp in Figure 1 ;

[0034] Figure 6 It is the top view schematic drawing of the utility model's clamping mechanism's embodiment 1 to remove third clamping plate and motor support.

[0035]

BRIEF DESCRIPTION OF DRAWINGS

[0036] 1: first clamping plate; 2: second clamping plate; 3: third clamping plate; 4: motor support; 5: mechanical arm connecting port; 6: limiting part; 7: first clamp; 8: second clamp; 9: clamping part; 10: connecting part; 11: guide groove; 12: guide protrusion; 13: walking tooth; 14: first drive gear 35 teeth; 15: second drive gear 35 teeth; 16: first transmission gear 50 teeth; 17: second transmission gear 17 teeth; 18: first transmission shaft; 19: third transmission gear 43 teeth; 20: fourth transmission gear 17 teeth; 21: second transmission shaft; 22: driving gear 17 teeth; 23: first installation gap; 24: second installation gap. DETAILED DESCRIPTION

[0037] In order to better explain the utility model, so as to facilitate understanding, the following combining with the drawings, through specific embodiment, the utility model is described in detail. Wherein, the "upper", "lower", "front", "back" and other orientation terms mentioned in this paper are with the orientation of the drawings as the reference. Figure 2

[0038] Example 1:

[0039] Referring to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 , the embodiment provides a spring clamp carrying device, which comprises a carrying mechanism and a clamping mechanism installed on the carrying mechanism.

[0040] The clamping mechanism comprises a first clamping plate 1, a second clamping plate 2, a first clamp 7 and a second clamp 8, the second clamping plate 2 is installed on the first clamping plate 1, the front side of the second clamping plate 2 and the front side of the first clamping plate 1 have a first installation gap 23, the first clamp 7 and the second clamp 8 are installed in the first installation gap 23 and slide transversely, the second clamping plate 2 is provided with a driving component and a gear transmission assembly, the driving component is in driving connection with the first clamp 7 and the second clamp 8 through the gear transmission assembly, so as to drive the first clamp 7 and the second clamp 8 to approach each other to clamp the spring or to move away from each other to release the spring.

[0041] Specifically referring to Figure 3 , Figure 4 and Figure 5 , the first clamp 7 and the second clamp 8 each comprise an integrally formed clamping part 9 and a connecting part 10.

[0042] ​The clamping part 9 is a strip-shaped plate, the lower surface of the front end of the strip-shaped plate is provided with a hook-shaped part bent inward, the clamping parts 9 of the first clamp 7 and the second clamp 8 are arranged symmetrically left and right, the connecting part 10 is a trapezoidal plate, the rear end of the trapezoidal plate is provided with a sliding bar extending in the transverse direction, the sliding bars of the connecting parts 10 of the first clamp 7 and the second clamp 8 are stacked together upward and downward, and can slide relative to each other;

[0043] The connecting part 10 is provided with a first guide structure, and the first clamping plate 1 and / or the second clamping plate 2 is provided with a second guide structure on the side facing the first mounting gap 23, and the second guide structure cooperates with the first guide structure to slide the connecting part 10 into the first mounting gap 23.

[0044] In this embodiment, the first guide structure is a guide groove 11 extending in the transverse direction and opened on the connecting part 10, and the second guide structure is a guide protrusion 12 extending in the transverse direction and provided on the second clamping plate 2.

[0045] Further, the second clamping plate 2 is provided with a limiting part 6 on the side of the first clamp 7 and the second clamp 8, which prevents the first clamp 7 and the second clamp 8 from moving excessively out of the first mounting gap 23.

[0046] In this embodiment, the gear transmission assembly includes first drive gears 14 and second drive gears 15 with the same number of teeth, and the first drive gears 14 and the second drive gears 15 are symmetrically arranged relative to the clamping faces of the first clamp 7 and the second clamp 8 when they are close to each other.

[0047] The sliding bars of the connecting parts 10 of the first clamp 7 and the second clamp 8 are each provided with a walking tooth 13 on the side facing the first mounting gap 23, and the first mounting gap 23 is provided with a first drive gear 14 and a second drive gear 15 meshing with the first drive gear 14 in the region corresponding to the installation of the connecting part 10, the first drive gear 14 and the second drive gear 15 are arranged in a staggered manner upward and downward, and one of the first drive gear 14 and the second drive gear 15 meshes with the walking tooth 13 of the first clamp 7, and the other of the first drive gear 14 and the second drive gear 15 meshes with the walking tooth 13 of the second clamp 8.

[0048] In combination Figure 3 And Figure 6 As shown in the figure, the gear transmission assembly further includes a first transmission gear 16, a second transmission gear 17, a first transmission shaft 18, a third transmission gear 19, a fourth transmission gear 20, and a second transmission shaft 21.

[0049] The second splint 2 rotatably supports the first transmission shaft 18, and one end of the first transmission shaft 18 facing away from the first mounting gap 23 is provided with a first transmission gear 16 that is drive-connected to the driving component, and the other end of the first transmission shaft 18 is provided with a second transmission gear 17 having a smaller number of teeth than the first transmission gear 16, and both ends of the second transmission shaft 21 are rotatably supported on the first splint 1 and the second splint 2 respectively, and the second transmission shaft 21 is fixedly sleeved with a third transmission gear 19 and a fourth transmission gear 20 having a smaller number of teeth than the third transmission gear 19 in sequence from top to bottom, the third transmission gear 19 is meshed with the second transmission gear 17, and the fourth transmission gear 20 is meshed with the first drive gear 14.

[0050] When in use, the driving component drives the first transmission gear 16 to rotate, and the rotation of the first transmission gear 16 drives the coaxial second transmission gear 17 to rotate, and the rotation of the second transmission gear 17 drives the third transmission gear 19 and the fourth transmission gear 20 to rotate, and finally transmits the driving force to the first drive gear 14 and the second drive gear 15. The first drive gear 14 and the second drive gear 15 respectively drive the first clamp 7 and the second clamp 8 to reciprocate in the horizontal direction.

[0051] The spring gripping and handling device of this embodiment adopts a multi-stage gear transmission, which can achieve a larger total transmission ratio by reasonably allocating the transmission ratios of each stage, thereby meeting a wider range of deceleration requirements. In addition, due to the requirements of spatial layout, it is necessary to realize remote transmission of power through a combination of an intermediate shaft and multiple gears.

[0052] Combine Figure 1 、 Figure 2 and Figure 6 As shown, the clamping mechanism of this embodiment further includes a third clamping plate 3 , which is mounted on the second clamping plate 2 , and a second mounting gap 24 is defined between the front sides of the third clamping plate 3 and the front sides of the second clamping plate 2 for accommodating the first transmission gear 16 .

[0053] The driving components of this embodiment include a motor (not shown) and a driving gear 22. A motor bracket 4 is provided on the side of the third clamping plate 3 facing away from the second clamping plate 2. The motor is mounted within the motor bracket 4. The motor's rotating shaft passes through the third clamping plate 3 and is connected to the driving gear 22 within the second mounting gap 24. The driving gear 22 meshes with the first transmission gear 16.

[0054] In this embodiment, the first clamping plate 1 , the second clamping plate 2 , the third clamping plate 3 and the motor bracket 4 are connected by snap-fit ​​connections or mortise and tenon connections.

[0055] Furthermore, the transport mechanism is a robotic arm, and a robotic arm connection port 5 is provided on the first clamping plate 1 and the second clamping plate 2 . The fixed end of the robotic arm is set on the working surface, and the free end of the robotic arm is connected to the robotic arm connection port 5 .

[0056] Example 2:

[0057] The embodiment provides another spring clamp taking device, which is different from the embodiment 1 in that the first clamping plate 1, the second clamping plate 2, the third clamping plate 3 and the motor support 4 are connected by bolts in the embodiment. In addition, in the embodiment, the number of teeth of the driving gear 22 is 17, the number of teeth of the first transmission gear 16 is 50, the number of teeth of the second transmission gear 17 is 17, the number of teeth of the third transmission gear 19 is 43, the number of teeth of the fourth transmission gear 20 is 17, the number of teeth of the first driving gear 14 is 35, and the number of teeth of the second driving gear 15 is 35. The driving gear 22, the first transmission gear 16, the second transmission gear 17, the third transmission gear 19, the fourth transmission gear 20, the first driving gear 14 and the second driving gear 15 have the same modulus, and the modulus is 0.5.

[0058] It should be noted that the number of teeth and the modulus of the above-mentioned gears are only an example, and according to the diameter size of the clamped spring, the positions of the shafts and the number of teeth and the modulus of the above-mentioned gears can be changed accordingly.

[0059] The rest is the same as the embodiment 1, and will not be repeated here.

[0060] In the description of the utility model, it should be understood that the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features limited by "first", "second" can be explicitly or implicitly included one or more features. In the description of the utility model, the meaning of "multiple" is two or more than two, unless otherwise specifically limited.

[0061] In the utility model, unless otherwise specifically defined and limited, the terms "installation", "connection", "connection", "fixing" and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication between two elements or the interaction relationship between two elements. For ordinary skilled in the art, the specific meaning of the above-mentioned terms in the utility model can be understood according to the specific situation.

[0062] In the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can be direct contact between the first and second features, or indirect contact through an intermediate medium. Moreover, the first feature is "above", "over" and "on" the second feature, which can be directly above or obliquely above the first feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature is "below", "under" and "under" the second feature, which can be directly below or obliquely below the first feature, or only indicates that the horizontal height of the first feature is lower than that of the second feature.

[0063] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "embodiment", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are contained in at least one embodiment or example of the present application. In the present application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or features of different embodiments or examples described in the present application without contradiction.

[0064] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application. Those skilled in the art can modify, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A spring clip pickup device characterized by: The utility model provides a kind of carrying mechanism and clamping mechanism installed on carrying mechanism; Clamping mechanism includes first clamping plate (1), second clamping plate (2), first clamp (7) and second clamp (8), second clamping plate (2) is installed on first clamping plate (1), there is first installation gap (23) between the front side of second clamping plate (2) and the front side of first clamping plate (1), first clamp (7) and second clamp (8) are installed in first installation gap (23) and slide along transverse direction, driving component and gear transmission assembly are installed on second clamping plate (2), driving component is connected with first clamp (7), second clamp (8) by gear transmission assembly to drive first clamp (7) and second clamp (8) to drive spring to be close to each other or release spring to be away from each other.

2. The spring clip retrieval device of claim 1, wherein: First clamp (7) and second clamp (8) each include integrated clamping part (9) and connecting part (10); Clamping part (9) is strip-shaped plate, the lower surface of the front end of strip-shaped plate is provided with inwardly curved hook-shaped part, clamping part (9) of first clamp (7) and second clamp (8) is arranged symmetrically left and right, connecting part (10) is trapezoidal plate, the rear end of trapezoidal plate is provided with sliding bar extending along transverse direction, the sliding bar of connecting part (10) of first clamp (7) and second clamp (8) is stacked together and can slide relatively; Connecting part (10) is provided with first guide structure, and the side of first clamping plate (1) and / or second clamping plate (2) towards first installation gap (23) is provided with second guide structure, and the second guide structure is matched with the first guide structure to slide connecting part (10) in first installation gap (23).

3. The spring clip retrieval device of claim 2, wherein: First guide structure is guide groove (11) extending along transverse direction opened on connecting part (10), and second guide structure is guide protrusion (12) extending along transverse direction provided on second clamping plate (2).

4. The spring clip retrieval device of claim 2, wherein: Second clamping plate (2) is provided with limiting part (6) on the side of first clamp (7) and second clamp (8).

5. The spring clip retrieval device of claim 2, wherein: Gear transmission assembly includes first driving gear (14) and second driving gear (15) with same number of teeth, and first driving gear (14) and second driving gear (15) are symmetrical relative to the clamping surface of first clamp (7) and second clamp (8) when close to each other; The side of sliding bar of connecting part (10) of first clamp (7) and second clamp (8) towards first installation gap (23) is provided with walking tooth (13), first driving gear (14) and second driving gear (15) are rotatably arranged in first installation gap (23) corresponding to the installation area of connecting part (10), and the other of first driving gear (14) and second driving gear (15) is engaged with walking tooth (13) of first clamp (7), and the other of first driving gear (14) and second driving gear (15) is engaged with walking tooth (13) of second clamp (8).

6. The spring clip retrieval device of claim 5, wherein: The gear transmission assembly further comprises a first transmission gear (16), a second transmission gear (17), a first transmission shaft (18), a third transmission gear (19), a fourth transmission gear (20), and a second transmission shaft (21); The first transmission shaft (18) is rotatably supported by the second clamping plate (2), one end of the first transmission shaft (18) away from the first mounting gap (23) is provided with the first transmission gear (16) in driving connection with the driving member, the other end of the first transmission shaft (18) is provided with the second transmission gear (17) having a smaller number of teeth than the first transmission gear (16), both ends of the second transmission shaft (21) are rotatably supported by the first clamping plate (1) and the second clamping plate (2) respectively, the third transmission gear (19) and the fourth transmission gear (20) having a smaller number of teeth than the third transmission gear (19) are sequentially and fixedly sleeved on the second transmission shaft (21) from top to bottom, the third transmission gear (19) is in mesh with the second transmission gear (17), and the fourth transmission gear (20) is in mesh with the first driving gear (14).

7. The spring clip retrieval device of claim 6, wherein: The clamping mechanism further comprises a third clamping plate (3), the third clamping plate (3) is mounted on the second clamping plate (2), and a second mounting gap (24) for accommodating the first transmission gear (16) is formed between the front side of the third clamping plate (3) and the front side of the second clamping plate (2).

8. The spring clip retrieval device of claim 7, wherein: The driving member comprises a motor and a driving gear (22); The side of the third clamping plate (3) away from the second clamping plate (2) is provided with a motor support (4), the motor is mounted in the motor support (4), the rotating shaft of the motor passes through the third clamping plate (3) and is connected with the driving gear (22) in the second mounting gap (24), and the driving gear (22) is in mesh with the first transmission gear (16).

9. The spring clip retrieval device of claim 8, wherein: The number of teeth of the driving gear (22) is 17, the number of teeth of the first transmission gear (16) is 50, the number of teeth of the second transmission gear (17) is 17, the number of teeth of the third transmission gear (19) is 43, the number of teeth of the fourth transmission gear (20) is 17, the number of teeth of the first driving gear (14) is 35, and the number of teeth of the second driving gear (15) is 35.

10. The spring clip retrieval device of claim 1, wherein: The carrying mechanism is a mechanical arm, the first clamping plate (1) and the second clamping plate (2) are provided with a mechanical arm connecting port (5), the fixed end of the mechanical arm is arranged on a working surface, and the free end of the mechanical arm is connected with the mechanical arm connecting port (5).

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