Automatic assembling device for track shoe

Abstract

The utility model relates to the technical field of track shoe installation, in particular to an automatic track shoe assembling device. Comprising a safety fence and a chain conveyor arranged on one side of the safety fence, a portal frame is arranged at one end of the chain conveyor, a D vision camera is installed at the top of the portal frame, an integrated overturning dragging assembly is arranged on the side, away from the chain conveyor, of the portal frame, and a robot is arranged between the overturning dragging assembly and the portal frame; a roller conveyor is arranged at the bottom of the turnover dragging assembly, the turnover dragging assembly comprises a supporting frame, a horizontal clamping mechanism arranged on one side of the supporting frame, a lifting mechanism arranged on the horizontal clamping mechanism and a turnover mechanism arranged on the lifting mechanism, and a front clamping mechanism and a rear clamping mechanism are arranged on the two sides of the roller conveyor respectively. According to the track shoe and chain assembling machine, automatic assembling work of track shoes and chains is achieved, labor intensity is reduced, and production efficiency is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to track shoe mounting technical field, concretely relates to a track shoe automatic assembly device. BACKGROUND

[0002] In tracked vehicles or mechanical equipment, track shoes and chains are very important components, they jointly constitute a track system, provide the moving ability of the vehicle or equipment. Track shoes are usually made of metal or rubber, while chains are composed of a series of chain links, these chain links are connected together through pins or other connecting pieces.

[0003] The actual assembly process of track shoes and chains mainly relies on manual help to suck track shoes through a hoist and then assemble them to chains, the specific work flow is as follows: 1, manually place the whole assembled chain on the unpowered conveyor;

[0004] 2, the forklift places the whole track shoe on the operation platform;

[0005] 3, manually use the hoist to suck and place the track shoe on the chain, the track shoe that does not need to be turned over is aligned with the assembly hole of the chain and then placed on the chain, the track shoe that needs to be turned over is placed on the chain plate through the hoist, and then the track shoe is turned over again to align the assembly hole;

[0006] 4, after the track shoe is assembled for a section, the screw is manually screwed, the track shoe is manually pulled forward for a certain distance, and then the rear track shoe is assembled; in the whole assembly process, the track shoe is mainly assembled to the chain through manual help of the hoist, and then the assembly hole is assembled, the assembly method has the problems of complicated operation, low production efficiency, high labor intensity and low production efficiency. INVENTION CONTENTS

[0007] The utility model provides a track shoe automatic assembly device that can realize automatic assembly of track shoes and chains in view of the deficiency of the prior art.

[0008] To achieve the above technical purpose, the utility model provides the following technical scheme: A track shoe automatic assembly device, including safety guardrail and chain conveyor arranged at one side of safety guardrail, one end of chain conveyor is equipped with gantry, the top of gantry is installed with D visual camera, the side of gantry away from chain conveyor is equipped with integral type turnover drag assembly, is equipped with robot between turnover drag assembly and gantry, the bottom of turnover drag assembly is equipped with cylinder conveyor, turnover drag assembly includes support frame, horizontal clamping mechanism of setting at one side of support frame, lifting mechanism of setting on horizontal clamping mechanism and turnover mechanism of setting on lifting mechanism, the both sides of cylinder conveyor are equipped with front clamping mechanism and rear clamping mechanism, the bottom of cylinder conveyor is equipped with push mechanism, when push mechanism drives, can constitute rear clamping mechanism and advance or retreat along the direction of cylinder conveyor.

[0009] Further, the safety guardrail and located above the chain conveyor sliding installation limit frame, safety guardrail and located above the limit frame is equipped with drive cylinder that drives the limit frame to lift.

[0010] Further, the horizontal clamping mechanism includes horizontal frame arranged on the support frame, the lifting mechanism includes left lifting frame and right lifting frame slidingly installed on the horizontal frame, one side of the horizontal frame is provided with a horizontal clamping motor driving the left lifting frame and the right lifting frame to approach or move away from each other.

[0011] Further, the turnover mechanism includes connecting frames arranged on the left lifting frame and the right lifting frame respectively, a support plate is arranged on the connecting frame, a rotary motor is arranged on the support plate, an output shaft of the rotary motor is connected with a rotary frame, a support rod is arranged on the rotary frame, a pressing cylinder is arranged on the top of the rotary frame, and a pressing block is connected to the output end of the pressing cylinder through the rotary frame.

[0012] Further, the support plate is slidingly installed on the connecting frame, and the end of the connecting frame is provided with a front-rear motor driving the support plate to slide forward and backward.

[0013] Further, the left lifting frame and the right lifting frame are each provided with a first lead screw, and the end of the left lifting frame and the right lifting frame is provided with a lifting motor driving the first lead screw to rotate, and the support plate is threadedly connected to the first lead screw.

[0014] Further, the push mechanism includes a bracket, a front sliding plate arranged on the top of the bracket, a rear sliding plate slidingly arranged on the top of the bracket, a push motor and a second lead screw driving the rear sliding plate to slide, the rear clamping mechanism is arranged on the rear sliding plate, and the front clamping mechanism is arranged on the front sliding plate.

[0015] Further, the front clamping mechanism and the rear clamping mechanism each comprise a left clamp, a right clamp and a clamping cylinder, the bottom of the left clamp and the right clamp is respectively provided with a left L plate and a right L plate, the left L plate and the right L plate are slidably installed on the front slide plate and the rear slide plate, the bottom of the left L plate and the right L plate is provided with a rack, the middle part of the front slide plate and the rear slide plate is provided with a gear engaged with the rack, and the piston rod end of the clamping cylinder drives the left L plate or the right L plate to slide.

[0016] Further, the two sides of the drum conveyor and the rear side of the rear clamping mechanism are provided with auxiliary clamping mechanisms, and the auxiliary clamping mechanisms comprise auxiliary clamping cylinders and clamping jaws.

[0017] Compared with the prior art, the utility model discloses the following beneficial effects: the utility model discloses the position of track shoe is positioned and the front and back of track shoe is identified through 3D vision camera, and the signal of turnover mechanism and robot is given, when not needing turning over, the support rod of turnover mechanism is in the open state, the robot absorbs track shoe and makes the hole position of track shoe align the hole position of chain, the rear clamping mechanism clamps the chain, and the chain is dragged back by a pitch through the pushing mechanism, and the second track shoe is waited to be put in, when needing turning over, the support rod of turnover mechanism is in the waiting position, the robot absorbs track shoe and places track shoe on the support rod, and the track shoe is clamped through the drive horizontal clamping mechanism, the track shoe is pressed tightly through the drive pressing block, the track shoe is turned over 180 ° through the rotation motor, the track shoe is lowered to a certain position above the chain through the lifting mechanism, the support plate is slid through the front and rear motor, the track shoe is moved back and the track shoe hook is inserted into the bottom of the front track shoe, then the support rod and the pressing block are loosened, the track shoe is placed on the chain, the turnover mechanism resets and waits for the next track shoe, finally, the chain is dragged back by a pitch through the pushing mechanism, and the second track shoe is waited to be put in, the utility model realizes the automatic assembly of track shoe and chain, which reduces the labor intensity and improves the production efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is the overall structure schematic diagram of the utility model, and

[0019] Figure 2 It is the structure schematic diagram of the chain conveyor of the utility model,

[0020] Figure 3 It is the structure schematic diagram of the turnover and drag assembly of the utility model,

[0021] Figure 4 It is the structure schematic diagram of the pushing assembly of the utility model,

[0022] Figure 5 It is the structure schematic diagram of the horizontal clamping mechanism of the utility model,

[0023] Figure 6It is the structural schematic view of the lifting mechanism and the turnover mechanism.

[0024] In the figure, 1, safety guardrail; 2, chain conveyor; 3, gantry; 4, 3D vision camera; 5, robot; 6, roller conveyor; 7, support frame; 8, horizontal clamping mechanism; 81, horizontal frame; 82, horizontal clamping motor; 9, lifting mechanism; 91, left lifting frame; 92, right lifting frame; 93, first screw rod; 94, lifting motor; 10, turnover mechanism; 101, connecting frame; 102, support plate; 103, rotary motor; 104, rotary frame; 105, support rod; 106, pressing cylinder; 107, pressing block; 108, front and rear motor; 11, front clamping mechanism; 111, left clamp; 112, right clamp; 113, clamping cylinder; 114, left L plate; 115, right L plate; 116, rack; 117, gear; 12, rear clamping mechanism; 13, pushing mechanism; 131, support; 132, front sliding plate; 133, rear sliding plate; 134, pushing motor; 135, second screw rod; 14, limiting frame; 15, driving cylinder; 16, auxiliary clamping mechanism; 161, auxiliary clamping cylinder; 162, clamping jaw. DETAILED DESCRIPTION

[0025] The following is a specific embodiment of the utility model, and the technical scheme of the utility model is further described in combination with the drawings, but the utility model is not limited to these embodiments.

[0026] As Figures 1-6 shown, the utility model provides a caterpillar track plate automatic assembly device, including safety guardrail 1 and chain conveyor 2 of setting in safety guardrail 1 one side, install the protective net ( for the convenience observation, the protective net is not shown in the drawing) on safety guardrail 1, the outside of safety guardrail 1 is equipped with robot control cabinet and electric control cabinet, one end of chain conveyor 2 is equipped with gantry 3, the top of gantry 3 is equipped with 3D vision camera 4, the side of gantry 3 away from chain conveyor 2 is equipped with integral turnover drag assembly, is equipped with robot 5 between turnover drag assembly and gantry 3, the mechanical hand end of robot 5 is equipped with electromagnetic suction tool for sucking caterpillar track plate, the bottom of turnover drag assembly is equipped with roller conveyor 6, and roller conveyor 6 is unpowered conveyor, the both sides of roller conveyor 6 are equipped with front clamping mechanism 11 and rear clamping mechanism 12 for clamping chain, the bottom of roller conveyor 6 is equipped with pushing mechanism 13, when pushing mechanism 13 drives, can constitute rear clamping mechanism 12 and advance or retreat along the direction of roller conveyor 6.

[0027] As Figure 1As shown, in the embodiment, two chain conveyors 2 are arranged side by side, a belt is rotatably installed on the top of the gantry 3, the 3D vision camera 4 is installed on the belt through a mounting plate, the bottom of the mounting plate is slidably installed on the gantry, the 3D vision camera 4 is driven to slide on the gantry 3 through the belt, and the position of the 3D vision camera 4 is adjusted according to the position of the track shoe on the chain conveyor 2; the 3D vision camera 4 is used to identify the position and front and back surfaces of the track shoe, and the identified position information is transmitted to the robot control cabinet, the robot control cabinet controls the robot to suck the track shoe and convey it to the turnover dragging assembly, when the track shoe needs to be turned over, the position of the turnover mechanism 10 is controlled through the horizontal clamping mechanism 8, so that the track shoe is placed on the turnover mechanism 10, during assembly, the chain is clamped through the front clamping mechanism 11 to avoid displacement during assembly and affect the assembly effect, after the chain is clamped through the rear clamping mechanism 12, the rear clamping mechanism 12 is moved by one pitch through the pushing mechanism 13, and the chain is indirectly dragged by one pitch, which facilitates the placement of the second track shoe.

[0028] The safety fence 1 is slidably provided with a limiting frame 14 above the chain conveyor 2, the safety fence 1 is provided with a drive cylinder 15 above the limiting frame 14 to drive the limiting frame 14 to rise and fall, a protective net (not shown in the figure) is arranged in the frame of the limiting frame 14, a first safety door is arranged on one side of the safety fence 1 close to the drum conveyor 6, which allows workers to enter one side of the drum conveyor 6 to insert bolts into the assembled track shoe, and a second safety door is arranged on one side of the safety fence 1 close to the robot, which facilitates the maintenance of the robot 5 and other structures in the safety fence 1.

[0029] As shown in Figure 2 , when the work starts, the drive cylinder 15 drives the limiting frame 14 to fall, preventing personnel from mistakenly entering the robot 5 disassembly area, ensuring the safety of construction and the normal operation of assembly work.

[0030] The horizontal clamping mechanism 8 includes a horizontal frame 81 arranged on the support frame 7, and the drum conveyor 6 penetrates the bottom of the support frame 7, the lifting mechanism 9 includes a left lifting frame 91 and a right lifting frame 92 slidably installed on the horizontal frame 81, the left lifting frame 91 and the right lifting frame 92 are respectively located on both sides of the drum conveyor 6, and one side of the horizontal frame 81 is provided with a horizontal clamping motor 82 driving the left lifting frame 91 and the right lifting frame 92 to relatively approach or move away from each other.

[0031] As shown in Figure 3 and 5 , a third screw rod is rotatably installed on the horizontal frame 81, the left lifting frame 91 and the right lifting frame 92 are threadedly installed on the third screw rod, and the horizontal clamping motor 82 drives the third screw rod to rotate, thereby driving the left lifting frame 91 and the right lifting frame 92 to move away from or approach each other.

[0032] The turnover mechanism comprises connecting frames 101 arranged on the left lifting frame 91 and the right lifting frame 92 respectively, a support plate 102 arranged on the connecting frame 101, a rotating motor 103 arranged on the support plate 102, a rotating frame 104 connected to the output shaft end of the rotating motor 103, a support rod 105 arranged on the rotating frame 104, a pressing cylinder 106 arranged on the top of the rotating frame 104, and a pressing block 107 connected to the output end of the pressing cylinder 106 and penetrating through the rotating frame 104, wherein the support plate 102 is slidingly arranged on the connecting frame 101, and the end of the connecting frame 101 is provided with a front-rear motor 108 for driving the support plate 102 to slide forward and backward.

[0033] As shown in Figure 5 and 6 When the left lifting frame 91 and the right lifting frame 92 are relatively close, the support rods 105 are indirectly brought to be relatively close, the track shoe is placed between the support rods 105, the track shoe is supported by the support rods 105, then the pressing cylinder 106 is started to press the track shoe, the rotating motor 103 drives the support rods 105 on the rotating frame 104 to rotate, and drives the track shoe to rotate, after rotation, the track shoe is placed on the chain of the drum conveyor by lowering the left lifting frame 91 and the right lifting frame 92, then the front-rear motor 108 is started to drive the support plate 102 to slide backward along the connecting frame 101, drives the track shoe to slide backward, the track shoe hook is inserted into the bottom of the front track shoe, the pressing cylinder 106 is loosened, and the left lifting frame 91 and the right lifting frame 92 are driven to be relatively far away, the support of the track shoe is loosened, and the assembly of the track shoe is completed.

[0034] The first screw rods 93 are arranged on the left lifting frame 91 and the right lifting frame 92, the lifting motors 94 are arranged at the ends of the left lifting frame 91 and the right lifting frame 92 and drive the first screw rods 93 to rotate, and the support plates 102 are threadedly connected to the first screw rods 93.

[0035] As shown in Figure 5 The lifting motor 94 drives the first screw rod 93 to rotate, drives the support plate 102 to ascend or descend, and indirectly drives the turnover mechanism 10 to ascend or descend.

[0036] The pushing mechanism 13 comprises a bracket 131, a front sliding plate 132 arranged on the top of the bracket 131, a rear sliding plate 133 slidingly arranged on the top of the bracket 131, a pushing motor 134 and a second screw rod 135 for driving the rear sliding plate 133 to slide, the rear clamping mechanism 12 is arranged on the rear sliding plate 133, and the front clamping mechanism 11 is arranged on the front sliding plate 132.

[0037] As shown in Figure 4As shown, the drive motor 134 drives the second lead screw 135 to rotate, which in turn drives the rear slide plate 133 to slide back and forth. The rear clamping mechanism 12 is installed on the rear slide plate 133, and the drive motor 134 will drive the rear clamping mechanism 12 to slide back and forth.

[0038] Both the front clamping mechanism 11 and the rear clamping mechanism 12 include a left clamp 111, a right clamp 112, and a clamping cylinder 113 disposed on both sides of the roller conveyor 6. The bottom of the left clamp 111 and the right clamp 112 are respectively provided with a left L-plate 114 and a right L-plate 115. The left L-plate 114 and the right L-plate 115 are slidably mounted on the front slide plate 132 and the rear slide plate 133. The bottom of the left L-plate 114 and the right L-plate 115 are provided with a rack 116. The middle of the front slide plate 132 and the rear slide plate 133 are provided with a gear 117 that meshes with the rack 116. The piston rod end of the clamping cylinder 113 drives the left L-plate 114 or the right L-plate 115 to slide.

[0039] like Figure 4 As shown, taking the front clamping mechanism 11 as an example, the clamping cylinder 113 drives the left L plate 114 to slide. When the rack 116 slides, it drives the gear 117 to rotate. The rotation of the gear 117 drives the right L plate 114 to slide, thereby realizing the clamping or loosening operation of the chain. The operating principle of the rear clamping mechanism 12 is the same as that of the front clamping mechanism, and will not be described again here.

[0040] The roller conveyor 6 is provided with auxiliary clamping mechanisms 16 on both sides and behind the rear clamping mechanism 12. The auxiliary clamping mechanism 16 includes an auxiliary clamping cylinder 161 and a gripper 162.

[0041] like Figure 3 As shown, the auxiliary clamping mechanism 16 is used to clamp the chain to prevent the chain from moving when the pushing mechanism 13 drags the track plate backward and the track plate hook is inserted into the bottom of the rear track plate, thus affecting the assembly effect.

[0042] A method of using an automatic track plate assembly device includes the following steps: S1: Use a forklift to place the track plates on the entire pallet at the entrance of the chain conveyor 2, and transport the track plates to the waiting area via the chain conveyor 2.

[0043] S2: The entire chain is manually pushed onto the roller conveyor 6 and clamped by the front clamping mechanism 11;

[0044] S3: The 3D vision camera 4 on the top of the gantry 3 locates the track plate position and identifies the front and back of the track plate, and sends signals to the robot 5 and the flipping mechanism. The robot control cabinet controls the robot 5 to pick up the track plate, and the electrical control cabinet controls the flipping mechanism 10 to flip the track plate.

[0045] S4: When the track shoe does not need to be flipped, the horizontal clamping motor 82 drives the left lifting frame 91 and the right lifting frame 92 to move away from each other, so that the support rod 105 of the turnover mechanism 10 is in the open position, the front clamping mechanism 11, the rear clamping mechanism 12 and the auxiliary clamping mechanism 16 clamp the chain, the robot control cabinet controls the robot 5 to directly place the track shoe on the chain, the front clamping mechanism 11 and the auxiliary clamping mechanism 16 loosen the clamping of the chain, and then the pushing motor 134 indirectly drives the rear clamping mechanism to drag the chain backward by one pitch, waiting for the second track shoe to be placed, and the same is repeated;

[0046] S5: When the 3D vision camera 4 identifies that the track shoe needs to be flipped, signals are transmitted to the robot control cabinet and the electric control cabinet, the electric control cabinet controls the support rod 105 of the turnover mechanism 10 to be in the waiting position, that is, the horizontal clamping motor 82 drives the left lifting frame 91 and the right lifting frame 92 to move close to each other, the front clamping mechanism 11 and the rear clamping mechanism 12 clamp the chain, the robot 5 places the track shoe on the support rod 105, the horizontal clamping motor 82 drives the left lifting frame 91 and the right lifting frame 92 to move close to each other again, controls the support rod 105 to clamp the track shoe and starts the pressing cylinder 106 to press the track shoe, the rotating motor 103 drives the rotating frame 104 to flip the track shoe on the support rod 105 by 180°, the lifting motor 94 drives the first screw rod 93 to rotate, drives the support plate 102 to descend to a certain distance above the chain, starts the front and rear motor 108 to drive the support plate 102 to slide backward along the connecting frame 101, drives the track shoe to slide backward, the support plate 102 moves to insert the rear track shoe hook into the bottom of the front track shoe, the pressing cylinder 106 loosens the pressing of the track shoe, drives the left lifting frame 91 and the right lifting frame 92 to move away from each other, loosens the support of the track shoe, places the track shoe on the chain, loosens the clamping of the chain by the front clamping mechanism 11, starts the pushing motor 134 to indirectly drive the rear clamping mechanism 12 to drag the chain backward by one pitch, and the turnover mechanism 10 returns to the waiting position for the next track shoe, and the same is repeated.

[0047] The specific embodiments described herein are merely illustrative of the spirit of the present application. Those skilled in the art to which the present application belongs can make various modifications or supplements to the described specific embodiments or use similar ways instead, without deviating from the spirit of the present application or exceeding the scope defined by the appended claims.

Claims

1. A track shoe automatic assembly apparatus, characterized by: The application relates to a safety fence (1) and a chain conveyor (2) arranged on one side of the safety fence (1), one end of the chain conveyor (2) is provided with a gantry (3), the top of the gantry (3) is provided with a 3D vision camera (4), one side of the gantry (3) away from the chain conveyor (2) is provided with an integrated flip dragging assembly, a robot (5) is arranged between the flip dragging assembly and the gantry (3), the bottom of the flip dragging assembly is provided with a roller conveyor (6), the flip dragging assembly comprises a support frame (7), a horizontal clamping mechanism (8) arranged on one side of the support frame (7), a lifting mechanism (9) arranged on the horizontal clamping mechanism (8) and a flip mechanism (10) arranged on the lifting mechanism (9), the two sides of the roller conveyor (6) are provided with front clamping mechanisms (11) and rear clamping mechanisms (12), the bottom of the roller conveyor (6) is provided with a pushing mechanism (13), and the pushing mechanism (13) can drive the rear clamping mechanisms (12) to advance or retreat along the direction of the roller conveyor (6) when the pushing mechanism (13) is driven.

2. The automatic track shoe assembly apparatus of claim 1, wherein: A limiting frame (14) is slidably arranged on the safety fence (1) and above the chain conveyor (2), and a driving cylinder (15) for driving the limiting frame (14) to lift is arranged on the safety fence (1) and above the limiting frame (14).

3. The automatic track shoe assembly apparatus of claim 1, wherein: The horizontal clamping mechanism (8) comprises a horizontal frame (81) arranged on the support frame (7), the lifting mechanism (9) comprises left and right lifting frames (91) and (92) slidably arranged on the horizontal frame (81), and one side of the horizontal frame (81) is provided with a horizontal clamping motor (82) for driving the left and right lifting frames (91) and (92) to relatively approach or move away from each other.

4. The automatic track shoe assembly apparatus of claim 3, wherein: The flip mechanism comprises connecting frames (101) slidably arranged on the left and right lifting frames (91) and (92) respectively, the connecting frames (101) are provided with support plates (102), the support plates (102) are provided with rotary motors (103), output shaft ends of the rotary motors (103) are connected with rotary frames (104), the rotary frames (104) are provided with support rods (105), the top of the rotary frame (104) is provided with a pressing cylinder (106), and the output end of the pressing cylinder (106) is connected with a pressing block (107) penetrating through the rotary frame (104).

5. The automatic track shoe assembly apparatus of claim 4, wherein: The support plates (102) are slidably arranged on the connecting frames (101), and the ends of the connecting frames (101) are provided with front-rear motors (108) for driving the support plates (102) to slide forward and backward.

6. The automatic track shoe assembly apparatus of claim 5, wherein: The left and right lifting frames (91) and (92) are provided with first lead screws (93), the ends of the left and right lifting frames (91) and (92) are provided with lifting motors (94) for driving the first lead screws (93) to rotate, and the support plates (102) are threadedly connected to the first lead screws (93).

7. The automatic track shoe assembly apparatus of claim 1, wherein: The pushing mechanism (13) comprises a support (131), a front sliding plate (132) arranged on the top of the support (131), a rear sliding plate (133) slidingly arranged on the top of the support (131), and a pushing motor (134) and a second lead screw (135) for driving the rear sliding plate (133) to slide, the rear clamping mechanism (12) is arranged on the rear sliding plate (133), and the front clamping mechanism (11) is arranged on the front sliding plate (132).

8. The automatic track shoe assembly apparatus of claim 3, wherein: The front clamping mechanism (11) and the rear clamping mechanism (12) each comprise a left clamp (111), a right clamp (112) and a clamping cylinder (113), the bottom of the left clamp (111) and the right clamp (112) is respectively provided with a left L plate (114) and a right L plate (115), the left L plate (114) and the right L plate (115) are slidingly installed on the front sliding plate (132) and the rear sliding plate (133), the bottom of the left L plate (114) and the right L plate (115) is provided with a rack (116), the middle part of the front sliding plate (132) and the rear sliding plate (133) is provided with a gear (117) engaged with the rack (116), and the end of the piston rod of the clamping cylinder (113) drives the left L plate (114) or the right L plate (115) to slide.

9. The automatic track shoe assembly apparatus of claim 1, wherein: Two sides of the roller conveyor (6) and rear sides of the rear clamping mechanism (12) are provided with auxiliary clamping mechanisms (16), the auxiliary clamping mechanism (16) comprises an auxiliary clamping cylinder (161) and a clamping jaw (162).

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