Integrated electronic control pneumatic gear shifting execution mechanism offline detection system

Abstract

The utility model discloses an off-line detection system for an integrated electronic control pneumatic gear shifting actuating mechanism, and mainly solves the technical problems of complex structure, low detection efficiency and the like of the conventional detection device. The system comprises a conveying module, a plug-in module, a load module and a detection module. The conveying module is used for bearing the tested mechanism and conveying the tested mechanism from the feeding area to the testing area; the plug-in module is used for plug-in with a TCU of a tested mechanism. The load module is used for being in butt joint with a shifting fork of a tested mechanism. The detection module is used for detecting parameter information of a corresponding part of the detected mechanism and transmitting the parameter information to the external control module; the transmission module, the plug-in module and the load module are electrically connected with the external control module and are used for receiving corresponding driving signals and feeding back corresponding parameter information. The system is simple in structure, all the modules are matched with one another, and the performance of the detected mechanism can be efficiently and accurately detected.

Description

TECHNICAL FIELD

[0001] The utility model relates to actuating mechanism detection system, concretely relates to a kind of integrated electric control pneumatic gear shifting actuating mechanism offline detection system. BACKGROUND

[0002] Integrated electric control pneumatic gear shifting actuating mechanism is the core component of AMT gearbox, integrates TCU, solenoid valve, sensor and other electronic components, compared with the first generation modular actuating mechanism, with the characteristics of high integration, and improves the protection level and reliability of mechanism.

[0003] Integrated electric control pneumatic gear shifting actuating mechanism needs to be detected after assembly, to ensure the overall quality of gearbox product.The traditional detection method is that integrated electric control pneumatic gear shifting actuating mechanism is taken offline with gearbox main body, and then overall detection is carried out, but the method cannot exclude the failure of actuating mechanism before gearbox offline test, so there is the problem of resource waste and low efficiency caused by rework.

[0004] Therefore, the prior art also discloses some test devices and corresponding test methods, such as the Chinese patent with publication number CN209296312U discloses a kind of automatic offline detection equipment of drive-by-wire gear shifting actuator, which is provided with base, clamping mechanism, detection slider mechanism and load mechanism, and provides hardware basis for automatic offline detection of drive-by-wire gear shifting actuator.But its overall structure is relatively complex, and the assembly and detection process is relatively cumbersome, so as to cause low detection efficiency. UTILITY MODEL CONTENT

[0005] The utility model aims at solving the technical problems, such as complex structure and low detection efficiency of existing detection device, and provides a kind of integrated electric control pneumatic gear shifting actuating mechanism offline detection device.

[0006] To achieve the above-mentioned purpose, the utility model adopts the technical scheme that:

[0007] A kind of integrated electric control pneumatic gear shifting actuating mechanism offline detection system, it is special in that:

[0008] It includes conveying module, plug-in module, load module and detection module;

[0009] The conveying module is used to carry measured mechanism, and convey it from loading area to test area;

[0010] The plug-in module is located in test area, and is used to plug with the TCU of measured mechanism;

[0011] The load module is located in test area, and is used to interface with the fork of measured mechanism;

[0012] The detection module comprises an infrared distance meter, an air pressure gauge and an air temperature gauge; the infrared distance meter is installed on the load module and used for detecting displacement change of the fork of the measured mechanism; the air pressure gauge is used for collecting air pressure value of the air source and checking with the detection value of the air pressure sensor in the cylinder of the measured mechanism; and the air temperature gauge is used for collecting temperature value of the environment and checking with the detection value of the oil temperature sensor of the measured mechanism.

[0013] The conveying module, the plug-in module, the load module, the infrared distance meter, the air pressure gauge and the air temperature gauge are respectively electrically connected with the external control module, used for receiving corresponding driving signals and obtaining corresponding detection information.

[0014] Further, the conveying module comprises a conveying mechanism and a feeding table.

[0015] The conveying mechanism comprises a conveying belt and a conveying motor, wherein the conveying motor is electrically connected with the external control module; the feeding table is installed on the conveying belt, and the feeding table is provided with a mounting hole used for mounting the measured mechanism and making the fork of the measured mechanism extend from below the feeding table; and the output end of the conveying motor is connected with the conveying belt, used for driving the conveying belt to move the feeding table and the measured mechanism from the feeding area to the testing area.

[0016] Further, the feeding table is provided with a clamping mechanism comprising a fixed seat, a handle and a pressing rod.

[0017] The fixed seat is installed on the feeding table, the handle is hingedly connected with the fixed seat, and one end of the pressing rod is connected with the handle and the other end is used for pressing the measured mechanism from above.

[0018] Further, the load module comprises a first base, a load motor and a plurality of mutually parallel support baffles.

[0019] The plurality of support baffles are vertically installed on the first base and are sequentially connected through a connecting rod; a sliding block is sleeved on the connecting rod between adjacent two support baffles; the sliding block is movably connected with the connecting rod, and both ends thereof are elastically connected with the side walls of the support baffles; and the sliding block is provided with an annular groove used for adapting to the fork of the measured mechanism.

[0020] There are a plurality of infrared distance meters, which are respectively installed on the side wall of one of the adjacent two support baffles close to the sliding block.

[0021] The load motor is electrically connected with the external control module, is located below the first base, and has an output end connected with the first base, used for driving the first base to ascend or descend.

[0022] Further, both ends of the sliding block are connected with the corresponding support baffles through the springs sleeved on the connecting rod.

[0023] Further, the plug module comprises a second base, a plug and a plug motor.

[0024] The plug is slidingly installed on the second base; the plug motor is installed on the second base, and an output end of the plug motor is connected with the plug, so as to drive the plug to slide on the second base, so as to realize the plug connection or separation with the TCU of the measured mechanism; the plug and the plug motor are electrically connected with the external control module respectively.

[0025] Further, the plug is a 24PIN plug.

[0026] Further, the limiting device is arranged on the detection area, and a first position sensor and a second position sensor are installed on the limiting device and electrically connected with the external control module respectively; the first position sensor is used for collecting the position information of the feeding table; and the second position sensor is used for collecting the position information of the first base.

[0027] Compared with the prior art, the utility model has the beneficial effects that:

[0028] 1. The utility model discloses a conveying module, a plug module, a load module and a detection module, wherein the conveying module is used for bearing the measured mechanism and conveying it from the feeding area to the test area, the plug module is located in the test area and is used for plug connection with the TCU of the measured mechanism, the load module is located in the test area and is used for interfacing with the fork of the measured mechanism, the detection module is used for detecting corresponding information and transmitting it to the external control module, and the conveying module, the plug module and the load module are electrically connected with the external control module respectively, so that the measured mechanism reaches the specified position, and the detection of the corresponding parameters is realized.

[0029] 2. The utility model not only can stably fix the measured mechanism on the feeding table, but also can ensure that the fork is matched with the annular groove in the load module, so as to ensure the precision of the fork when it is engaged in each gear position, and the real performance of the measured mechanism is tested.

[0030] 3. The utility model realizes the electrical connection between the measured mechanism and the external control module through the plug module, so that the communication between the external control module and the TCU of the measured mechanism is facilitated, and the hardware basis for detecting the real performance of the measured mechanism is provided.

[0031] 4. The limiting device, the first position sensor and the second position sensor on the limiting device of the utility model can accurately control the position of the fork and the annular groove, so as to ensure the authenticity of the detection result.

[0032] 5. The utility model discloses improve integrated type electric control pneumatic gear shifting actuator online yield rate and new energy AMT gearbox assembly first time success rate of going offline, reduce the resource waste of rework, improve production efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 It is the structure schematic drawing of the utility model embodiment (detection module is not shown).

[0034] Figure 2 It is the structure schematic drawing of integrated type electric control pneumatic gear shifting actuator.

[0035] Figure 3 It is the structure schematic drawing of the feeding table in the utility model embodiment.

[0036] Figure 4 It is the structure schematic drawing of the measured mechanism installed on the feeding table in the utility model embodiment.

[0037] Figure 5 It is the structure schematic drawing of load module (load motor is not shown) in the utility model embodiment.

[0038] Figure 6 It is the side view of load module (load motor is not shown) in the utility model embodiment.

[0039] Figure 7 It is the structure schematic drawing of the measured mechanism's shift fork and annular groove card joint in the utility model embodiment.

[0040] Figure 8 It is the structure schematic drawing of the utility model embodiment to the plug-in module.

[0041] The following is the sign:

[0042] 1-conveying module, 11-feeding table, 111-mounting hole, 112-fixed seat, 113-handle, 114-pressing rod, 2-plug-in module, 21-second base, 22-plug-in part, 23-plug-in motor, 3-load module, 31-first base, 32-supporting baffle, 33-link, 34-sliding block, 341-annular groove, 35-spring, 4-measured mechanism. DETAILED DESCRIPTION

[0043] In order to make the purpose, advantage and feature of the utility model more clear, the following is further detailed to the utility model with the drawings and specific embodiment.

[0044] As Figure 1As shown in the figure, this embodiment provides an integrated electro-pneumatic shifting actuator offline testing system, including a conveying module 1, an interlocking module 2, a load module 3, and a testing module (not shown in the figure). The conveying module 1 carries the device under test 4 and conveys it from the loading area to the testing area; the interlocking module 2 is located in the testing area and is used to interlock with the TCU of the device under test 4; the load module 3 is located in the testing area and is used to connect with the shift fork of the device under test 4; the testing module includes an infrared rangefinder, a barometer, and a thermometer; the infrared rangefinder is mounted on the load module 3 and is used to detect the displacement changes of the shift fork 4 of the device under test.

[0045] The pressure gauge is used to collect the air pressure value of the air source. Specifically, the pressure gauge and the external air source are integrated and externally mounted. It detects the air source pressure and verifies it with the cylinder pressure detected by the air pressure sensor in the 4th cylinder of the tested mechanism, thereby verifying the accuracy of the air pressure sensor in the 4th cylinder of the tested mechanism.

[0046] The thermometer is used to collect the temperature value of the oil tank. Specifically, the thermometer is placed externally to detect the ambient temperature and is then compared with the detection value of the oil temperature sensor of the tested mechanism 4 to verify the accuracy of the oil temperature sensor of the tested mechanism 4.

[0047] An external control module can be set up in the test area and electrically connected to the conveying module 1, the interlocking module 2, the load module 3, the infrared rangefinder, the barometer, and the thermometer, respectively, to send corresponding drive signals and acquire corresponding detection information.

[0048] like Figure 2 As shown, the tested mechanism 4 in this embodiment is an integrated electro-pneumatic shifting actuator composed of a TCU, solenoid valves, a displacement sensor, an oil temperature sensor, a cylinder, a pressure sensor installed inside the cylinder, and a shift fork. The TCU can communicate with an external control module via a plug-in module 2. During testing, it can receive control signals from the external control module and control each solenoid valve to open or close the air passages based on these signals, thereby achieving the shifting action of the cylinder and shift fork. The shift fork can remain in three different gear positions. The displacement sensor is fixed to the shift fork shaft and provides real-time feedback of the shift fork position to the TCU. The TCU determines the current gear position based on the displacement sensor signal and further controls the solenoid valve, thus achieving closed-loop control.

[0049] The conveying module 1 includes a conveying mechanism and a loading platform 11. The conveying mechanism includes a conveyor belt and a conveyor motor, wherein the conveyor motor is electrically connected to an external control module. There are two conveyor belts arranged in parallel, and the two ends of the loading platform 11 are respectively mounted on the two conveyor belts, with the middle suspended in the air.

[0050] like Figure 3As shown, the embodiment is provided with a mounting hole 111 at the middle position of the feeding table 11, for mounting the measured mechanism 4 and making the shift fork extend from below the feeding table 11. The output end of the transmission motor is connected with the transmission belt, for driving the transmission belt to drive the feeding table 11 and the measured mechanism 4 to move from the feeding area to the testing area, and then return the feeding table 11 and the measured mechanism 4 from the testing area to the feeding area after the testing is completed.

[0051] In order to improve the stability of the measured mechanism 4 during the testing process, the embodiment is provided with a clamping mechanism on the feeding table 11, which includes a fixed seat 112, a handle 113 and a pressing rod 114. The fixed seat 112 is fixedly installed above the feeding table 11, and the handle 113 is hinged with the fixed seat 112. One end of the pressing rod 114 is connected with the handle 113, and the other end is used for pressing the measured mechanism 4 from above. Figure 4

[0052] In combination Figure 5 and Figure 6 As shown, the load module 3 includes a first base 31, a load motor and a plurality of mutually parallel support baffles 32. The plurality of support baffles 32 are vertically installed on the first base 31, and are sequentially connected by a long connecting rod 33 which is perpendicular to each support baffle 32. A sliding block 34 is sleeved on the connecting rod 33 between the adjacent two support baffles 32, and the sliding block 34 is movably connected with the connecting rod 33. The two ends of the sliding block 34 are elastically connected with the side walls of the support baffles 32 through springs 35, wherein the springs 35 are sleeved on the connecting rods 33 at the two ends of the sliding block 34. During the test of the gear hanging, the shift fork overcomes the spring force to move, so that whether the gear hanging force of the actuator meets the requirements can be detected. Meanwhile, the sliding block 34 is also provided with an annular groove 341 for adapting to the shift fork of the measured mechanism 4. There are a plurality of infrared distance meters, which are installed on the side walls of the support baffles 32 close to the sliding blocks 34, for detecting the position change information of the corresponding shift fork (i.e. the position change information of the shaft end of the shift fork) and feeding back to the external control module. During the test of gear shifting, the external control module judges the gear position according to the distance change between the infrared distance meter and the shaft end of the shift fork, and compares and detects the shift fork displacement and the gear position fed back by the TCU, and then gives the detection result.

[0053] The load motor is electrically connected with the external control module, which is located below the first base 31 and has an output end connected with the first base 31, for driving the first base 31 to rise, so that the annular groove 341 is engaged with the shift fork (as shown); or, driving the first base 31 to descend, so that the annular groove 341 is separated from the shift fork. Figure 7 ​​

[0054] As Figure 8 shown, the plug-in module 2 comprises a second base 21, a plug-in piece 22 and a plug-in motor 23, and the plug-in piece 22 and the plug-in motor 23 are electrically connected with the external control module.

[0055] The plug-in piece 22 is slidingly installed on the second base 21, specifically, a guide rail is installed on the second base 21, and the plug-in piece 22 is located on the guide rail and can slide along the guide rail. In the embodiment, the plug-in piece 22 is a 24pin plug-in piece. The plug-in motor is installed on the second base 21, and the output end thereof is connected with the plug-in piece 22, for driving the plug-in piece 22 to slide on the guide rail, so as to realize the plug-in or separation of the plug-in piece 22 and the TCU in the measured mechanism 4 according to the test requirement. The plug-in motor in the embodiment is a screw motor.

[0056] In order to improve the test efficiency while ensuring the accuracy of the test, the embodiment further comprises a limiting device arranged in the detection area, and a first position sensor and a second position sensor are installed on the limiting device and electrically connected with the external control module; the first position sensor is used for collecting the position information of the feeding table 11; and the second position sensor is used for collecting the position information of the first base 31.

[0057] The external control module in the embodiment is a PLC controller, which has a display and an operation interface, the PLC controller and the TCU realize communication through a CAN bus, and the air pressure gauge, the air temperature gauge and the infrared distance meter are connected through hard wires, so as to collect relevant signals in real time and control the transmission motor, the plug-in motor 23 and the load motor through a wire harness. The staff selects a test mode through the display and the operation interface, starts or stops the off-line test, and receives the test state and the test result feedback through the interface.

[0058] The utility model solves the prior art does not have the problem of integrated electric control pneumatic actuating mechanism separate off-line detection means, improves integrated actuating mechanism on-line yield rate and new energy AMT gearbox assembly one off-line success rate, reduces the resource waste caused by rework.

[0059] In combination Figures 1 to 8 , the test process of the utility model is specifically explained:

[0060] Step one: first, place the measured mechanism 4 on the feeding table 11, and make the end of the measured mechanism 4 provided with a yoke downward and extend from the mounting hole 111, then connect the measured mechanism 4 with the feeding table 11 through a positioning pin, then fasten the measured mechanism 4 on the feeding table 11 from the upper side through a clamping mechanism, and finally insert the air inlet joint into the air inlet of the measured mechanism 4.

[0061] Step two: the tester selects the manual mode through the operation interface of the external control module and clicks the feeding, at this time the external control module controls the transmission motor to drive the conveying belt to convey the feeding table 11 and the measured mechanism 4 from the feeding area to the test area. When the first position sensor senses that the feeding table 11 reaches the specified position, it transmits the information to the external control module, and the external control module controls the transmission motor to stop working.

[0062] Step three: the tester clicks the start loading through the operation interface of the external control module, at this time the external control module controls the load motor to drive the first base 31 to rise, as the first base 31 gradually rises, the measured mechanism 4 is slowly inserted into the annular groove 341 of the slider 34 to complete the cooperation, at the same time, the second position sensor senses that the first base 31 has reached the specified position, then transmits the information to the external control module, and the external control module controls the load motor to stop working.

[0063] Step four: the tester clicks the plug-in measured part through the operation interface of the external control module, at this time the external control module controls the plug-in motor 23 to drive the plug-in part 22 to move along the slide rail on the second base 21, so as to realize the plug-in of the 24PIN plug-in interface of the measured mechanism 4, at this time the TCU is connected to the power supply and wakes up through the 24PIN plug-in interface, and realizes the communication with the external control module, the external control module detects whether the communication is normal through the message and displays the result.

[0064] Step five: the tester clicks the air pressure sensor detection through the operation interface of the external control module, at this time the external control module compares the value detected by the air pressure sensor built in the TCU with the air source pressure value fed back by the air pressure gauge, if it is within the set tolerance range, it is determined that the detection is qualified and the result is displayed through the display, otherwise it displays "air pressure sensor detection abnormal", the tester further analyzes and analyzes.

[0065] Step six: the tester clicks the oil temperature sensor detection through the operation interface of the external control module, at this time the external control module compares the value detected by the oil temperature sensor of the TCU with the environmental temperature value fed back by the air temperature gauge, if it is within the set tolerance range, it is determined that the detection is qualified and the result is displayed through the display, otherwise it displays "oil temperature sensor detection abnormal", the tester further analyzes and analyzes.

[0066] Step seven: the tester clicks the gear test through the operation interface of the external control module, at this time the external control module sends the off-line detection mode flag and the gear test signal to the TCU, and the TCU starts the automatic gear test process after receiving the relevant signals. First, control the electromagnetic valve of gear one to open, connect the gear one gas circuit, push the piston and yoke to overcome the spring resistance to move to gear one direction, and the TCU judges whether the gear is engaged according to the real-time feedback signal of the displacement sensor, if yes, the electromagnetic valve is closed. At this time, the TCU sends the current gear one and displacement value to the external control module, the external control module judges the gear according to the position change information of the yoke shaft end feedback by the infrared range finder, and compares and detects with the yoke displacement and gear feedback by the TCU, if the difference value between the displacement value feedback by the TCU and the yoke shaft stroke measured by the infrared range finder is within the set tolerance range, it is determined that the detection is qualified, and the test continues; otherwise, it is determined that the detection is unqualified, and the display operation interface displays "gear one test fails", the test process is stopped, the TCU controls the electromagnetic valve to engage the neutral gear, and the tester further analyzes and investigates.

[0067] Repeat the above process to test whether the remaining gears are normal, and after all the gear tests are qualified, the external control module displays "all gear tests are successful" on the display interface.

[0068] Step eight: the tester clicks the complete test through the operation interface of the external control module, at this time the external control module first controls the load motor to drive the first base 31 to descend to complete the unloading, then controls the plug-in module to separate the plug-in part 22 from the measured mechanism 4, and finally drives the conveying belt through the conveying motor to return the feeding table 11 and the measured mechanism 4 from the test area to the feeding area. Then, the corresponding repair or assembly process is carried out.

[0069] Of course, on this basis, the feeding can be completed in the manner of step one, and then the automatic mode is selected through the operation interface of the external control module to complete the automatic test of steps two to seven, including feeding and conveying, plug-in and communication test of the plug-in part, loading, air pressure and temperature sensor detection and gear test, and displaying all test results on the display. Finally, the measured mechanism 4 is moved out of the test area in the manner of step eight.

[0070] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the present application.

Claims

1. An integrated electric control pneumatic shift actuator offline detection system, characterized in that: it comprises a conveying module (1), a plug-in module (2), a load module (3) and a detection module; the conveying module (1) is used to carry the measured mechanism (4) and convey it from the loading area to the test area; the plug-in module (2) is located in the test area and used to plug in with the TCU of the measured mechanism (4); the load module (3) is located in the test area and used to interface with the fork of the measured mechanism (4); the detection module comprises an infrared range finder, a barometer and a gas thermometer; the infrared range finder is installed on the load module (3) and used to detect the displacement change of the fork of the measured mechanism (4); the barometer is used to collect the air pressure value of the air source and check the detection value of the air pressure sensor in the cylinder of the measured mechanism (4); the gas thermometer is used to collect the temperature value of the environment and check the detection value of the oil temperature sensor of the measured mechanism (4); the conveying module (1), the plug-in module (2), the load module (3), the infrared range finder, the barometer and the gas thermometer are respectively electrically connected with the external control module, used to receive the corresponding driving signals and obtain the corresponding detection information.

2. The integrated electric control pneumatic shift actuator offline detection system according to claim 1, characterized in that: the conveying module (1) comprises a conveying mechanism and a loading table (11); the conveying mechanism comprises a conveying belt and a conveying motor, wherein the conveying motor is electrically connected with the external control module; the loading table (11) is installed on the conveying belt and provided with a mounting hole (111) on the loading table (11) for mounting the measured mechanism (4) and making the fork of the measured mechanism (4) extend from below the loading table (11); the output end of the conveying motor is connected with the conveying belt, used to drive the conveying belt to move the loading table (11) and the measured mechanism (4) from the loading area to the test area.

3. The integrated electric control pneumatic shift actuator offline detection system according to claim 2, characterized in that: the loading table (11) is provided with a clamping mechanism, which comprises a fixed seat (112), a handle (113) and a pressing rod (114); the fixed seat (112) is installed on the loading table (11), the handle (113) is hinged with the fixed seat (112), and one end of the pressing rod (114) is connected with the handle (113) and the other end is used to press the measured mechanism (4) from above.

4. The integrated electric control pneumatic shift actuator offline detection system according to claim 3, characterized in that: the load module (3) comprises a first base (31), a load motor and a plurality of parallel support baffles (32); the plurality of support baffles (32) are vertically installed on the first base (31) and connected in sequence through a connecting rod (33); a sliding block (34) is sleeved on the connecting rod (33) between adjacent two support baffles (32); the sliding block (34) is movably connected with the connecting rod (33) and elastically connected with the side walls of the support baffles (32) at both ends; the sliding block (34) is provided with an annular groove (341) for adapting to the fork of the measured mechanism (4). ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ The infrared distance meters are multiple, and are respectively installed on the side wall of one of the adjacent two support baffles (32) near the side of the slider (34). The load motor is electrically connected with the external control module, is located below the first base (31), and is connected with the first base (31) at the output end, and is used for driving the first base (31) to rise or fall.

5. The integrated electric control pneumatic gear shifting execution mechanism offline detection system according to claim 4, characterized in that: Both ends of the slider (34) are connected with the corresponding support baffles (32) through the springs (35) sleeved on the connecting rods (33).

6. The integrated electric control pneumatic gear shifting execution mechanism offline detection system according to claim 1, characterized in that: The plug-in module (2) comprises a second base (21), a plug-in piece (22) and a plug-in motor (23). The plug-in piece (22) is slidably installed on the second base (21); the plug-in motor is installed on the second base (21), and an output end of the plug-in motor is connected with the plug-in piece (22), so as to drive the plug-in piece (22) to slide on the second base (21), realize the plug-in or separation with the TCU of the measured mechanism (4); the plug-in piece (22) and the plug-in motor (23) are respectively electrically connected with the external control module.

7. The integrated electric control pneumatic gear shifting execution mechanism offline detection system according to claim 6, characterized in that: The plug-in piece (22) is a 24-pin plug-in piece.

8. The integrated electric control pneumatic gear shifting execution mechanism offline detection system according to claim 4, characterized in that: Further comprising a limiting device arranged in the detection area, and a first position sensor and a second position sensor are installed on the limiting device and are respectively electrically connected with the external control module; the first position sensor is used for collecting the position information of the feeding table (11); and the second position sensor is used for collecting the position information of the first base (31).

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