Model separation converter

Abstract

The utility model provides a model separating and converting machine. The model separating and converting machine comprises a first supporting frame, an ejector pin base, a second supporting frame and a carrying mechanism. The first support frame is used for detachably mounting a printing platform bearing a model; the ejector pin assembly is arranged corresponding to the first supporting frame and used for pushing the model to be separated from the printing platform. The second support frame is used for detachably mounting the transfer platform; the carrying mechanism can carry the model from the printing platform to the transfer platform. According to the model separation and conversion machine provided by the invention, the separation of the model and the printing platform and the transfer of the model from the printing platform to the transfer platform can be realized, so that the printing platform is returned to the 3D printing equipment to be repeatedly used after being separated from the model, and a cured printing material is prevented from being adhered to the printing platform when the printing platform flows to a model curing process.

Description

Technical Field

[0001] This application relates to the field of 3D printing technology, and more specifically, to a model separation and conversion machine. Background Technology

[0002] With the development of technology, 3D printing has been widely used in manufacturing. In conventional 3D printing equipment, the printing platform is fixed to the frame. After the model is printed on the platform, it needs to be detached from the platform before printing can continue. This results in low production efficiency because the platform cannot continuously print models. Therefore, an alternative design approach has emerged: the printing platform is detachably connected to the frame. After the model is printed, the platform and model are moved away from the frame simultaneously, and a new printing platform is installed on the frame to achieve rapid printing. The removed printing platform will enter the model curing process along with the model, and the liquid printing material adhering to the platform will solidify on the platform, thus affecting the platform's reusability. Utility Model Content

[0003] The purpose of this application is to provide a model separation and conversion machine that can be easily reused by the printing platform.

[0004] A model separation converter includes:

[0005] The first support frame is used for detachably mounting the printing platform that carries the model;

[0006] An ejector pin assembly is provided corresponding to the first support frame and is used to push the model away from the printing platform;

[0007] A second support frame is used for the detachable installation of the transfer platform; and

[0008] The transport mechanism is capable of transporting the model from the printing platform to the transfer platform.

[0009] In one embodiment, the handling mechanism includes a robotic arm and a gripper cylinder connected to the robotic arm. The robotic arm can drive the gripper cylinder to move between the first support frame and the second support frame. The gripper cylinder can open and close to clamp or release the model.

[0010] In one embodiment, the gripper cylinder includes a cylinder and two grippers connected to the cylinder. Each of the two grippers has a clamping plane on one end away from the cylinder and facing each other. The two clamping planes are parallel and face each other. An avoidance groove is provided on the side of the clamping plane closer to the cylinder.

[0011] In one embodiment, the ejector pin assembly includes a first driving member, a mounting plate, and a plurality of ejector pins. The plurality of ejector pins are all mounted on the mounting plate and are configured to correspond one-to-one with a plurality of through holes on the printing platform. The first driving member is connected to the mounting plate to drive the mounting plate to move up and down.

[0012] In one embodiment, the first support frame includes a support base, a stop block, a limiting member, and a locking member. There are multiple stop blocks, all of which are connected to the support base and together with the support base form a groove that can limit the movement direction of the printing platform to a predetermined direction. The limiting member and the locking member cooperate to lock the printing platform in the groove along the predetermined direction. The predetermined direction is perpendicular to the direction in which the ejector pin assembly pushes the model.

[0013] In one embodiment, the limiting member includes a base and an adjusting screw mounted on the base. The adjusting screw extends along the predetermined direction and has a limiting surface capable of abutting against the printing platform. The adjusting screw rotates relative to the base to change the position of the limiting surface in the predetermined direction. And / or, the locking member is mounted on the support base and includes a second driving member and a rotating block. The second driving member is connected to the rotating block to drive the rotating block to rotate and have a locked position and an unlocked position opposite to the locked position. In the locked position, the rotating block is located on the sliding path of the printing platform within the groove and, together with the limiting member, clamps the printing platform. In the unlocked position, the rotating block is away from the sliding path.

[0014] In one embodiment, the second support frame includes a plurality of supports and clamping members. The plurality of supports together form a mounting groove for accommodating the transfer platform. The clamping members are capable of pushing the transfer platform and cooperating with at least one of the supports to clamp the transfer platform together.

[0015] In one embodiment, the model separation and conversion machine includes a vision module and a control system. The vision module is suspended above the first support frame and the second support frame, and the control system is connected to both the vision module and the transport mechanism.

[0016] In one embodiment, the model separation and conversion machine includes a frame, a first support frame and a second support frame are spaced apart along a first direction, and the vision module is slidably connected to the frame along the first direction.

[0017] In one embodiment, the model separation and conversion machine includes a frame, which includes a frame, a mounting platform, and multiple doors. The mounting platform and multiple doors are all mounted on the frame, and the multiple doors together surround the first support frame, the pin assembly, the second support frame, and the transport mechanism mounted on the mounting platform.

[0018] The beneficial effects of the model separation and conversion machine provided in this application are as follows: After installing the printing platform carrying the model on the first support frame, the model is pushed off the printing platform by the ejector pin assembly. The model is then transported from the printing platform to a transfer platform installed on the second support frame by a conveying mechanism. After the model on the printing platform has been moved, the printing platform can be detached from the first support frame, allowing it to be returned to the 3D printing equipment for reuse. The transfer platform carrying the model can then be transferred to the model curing process. After curing, the model can be manually removed from the transfer platform, which can then return to the second support frame to receive more models. Thus, the model separation and conversion machine of this application can achieve the separation of the model from the printing platform and the transfer of the model from the printing platform to the transfer platform. This ensures that the printing platform, after separation from the model, can be returned to the 3D printing equipment for reuse, avoiding the possibility of it being transferred to the model curing process and becoming adhered with cured printing material. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a three-dimensional structural diagram of the model separation and conversion machine provided in the embodiments of this application;

[0021] Figure 2 for Figure 1 The diagram shows the structure behind the hidden door in the model's separation and conversion machine;

[0022] Figure 3 for Figure 2 Enlarged structural diagram at point A

[0023] Figure 4 for Figure 2 A structural schematic diagram from another perspective of the structure shown;

[0024] Figure 5 for Figure 4 Enlarged structural diagram at point B;

[0025] The following are the labeling elements in the figure:

[0026] 10. Model Separation and Conversion Machine; 20. Printing Platform; 30. Transfer Platform; 100. First Support Frame; 110. Support Base; 120. Stop Block; 130. Limiting Component; 131. Seat Body; 132. Adjusting Screw; 140. Locking Component; 141. Second Drive Component; 142. Rotating Block; 150. Slide Groove; 200. Ejector Pin Assembly; 210. First Drive Component; 220. Mounting Plate; 230. Ejector Pin; 300. Second Support Frame; 310. Support; 320. Clamping Component; 330. Mounting Groove; 400. Transport Mechanism; 410. Robotic Arm; 420. Grip Cylinder; 421. Cylinder; 422. Grip Claw; 423. Clamping Plane; 424. Clearance Groove; 500. Frame; 510. Frame; 520. Mounting Platform; 530. Door; 600. Vision Module. Detailed Implementation

[0027] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0028] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0029] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0030] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0031] Please refer to the following: Figures 1 to 5The model separation and conversion machine 10 provided in this application embodiment will now be described. The model separation and conversion machine 10 includes a first support frame 100, an ejector pin assembly 200, a second support frame 300, and a transport mechanism 400. The first support frame 100 is used to detachably mount the printing platform 20 carrying the model. The ejector pin assembly 200 is disposed corresponding to the first support frame 100 and is used to push the model away from the printing platform 20. The second support frame 300 is used to detachably mount the transfer platform 30. The transport mechanism 400 is capable of transporting the model from the printing platform 20 to the transfer platform 30.

[0032] It is understandable that after the model is printed on the printing platform 20, the printing platform 20 and the model can be moved away from the 3D printing equipment simultaneously. Then, the printing platform 20 carrying the model is installed on the first support frame 100. The model is pushed off the printing platform 20 by the ejector pin assembly 200. The model is then transported from the printing platform 20 to the transfer platform 30 installed on the second support frame 300 by the transport mechanism 400. After the model on the printing platform 20 has been moved, the printing platform 20 can be removed from the first support frame 100. Thus, the printing platform 20 can be returned to the 3D printing equipment for reuse, while the transfer platform 30 carrying the model can be transferred to the model curing process. After the model has been cured, the model can be removed from the transfer platform 30 manually, and the transfer platform 30 can also be returned to the second support frame 300 to receive the model for use. It should be noted that after the model is finally removed from the transfer platform 30, although some solidified printing material will remain on the transfer platform 30, it will not affect the transfer platform 30 from continuing to receive models, so the transfer platform 30 can be reused.

[0033] Thus, the model separation and conversion machine 10 of this application can realize the separation of the model from the printing platform 20 and the transfer of the model from the printing platform 20 to the transfer platform 30, so that the printing platform 20 can be returned to the 3D printing equipment for reuse after being separated from the model, and avoids flowing into the model curing process and being adhered with cured printing material.

[0034] Combination Figures 2 to 5As shown, specifically in this application, the handling mechanism 400 includes a robotic arm 410 and a gripper cylinder 420 connected to the robotic arm 410. The robotic arm 410 can drive the gripper cylinder 420 to move between the first support frame 100 and the second support frame 300. The gripper cylinder 420 can open and close to clamp or release the model. Driven by the robotic arm 410, the gripper cylinder 420 can move freely within the three-dimensional space around the first support frame 100 and the second support frame 300 to ensure that the gripper cylinder 420 can transfer all the models on the printing platform 20 at the first support frame 100 to the transfer platform 30. The gripper cylinder 420 is also a thumb cylinder, which clamps or releases the model by opening and closing two grippers 422.

[0035] like Figure 5 As shown, specifically in this application, the gripper cylinder 420 includes a cylinder 421 and two grippers 422 connected to the cylinder 421. Each gripper 422 has a clamping surface 423 on its opposite side, away from the cylinder 421. The two clamping surfaces 423 are parallel and directly opposite each other. A clearance groove 424 is provided on the side of the clamping surface 423 closest to the cylinder 421. It can be understood that as the two grippers 422 open and close, the clamping surfaces 423 on the two grippers 422 move closer or further apart, clamping the model through the cooperation of the two clamping surfaces 423. Furthermore, both clamping surfaces 423 are located at the ends of the two grippers 422 away from the cylinder 421, i.e., the ends of the grippers 422. The clearance groove 424 on the side of the clamping surface 423 closest to the cylinder 421 serves to avoid interference with the model and prevent the clamping surface 423 from stably clamping the model.

[0036] In this application, the model is specifically a dental diaphragm. The width d of the clamping plane 423 in the direction pointing to the cylinder 421 is less than 6mm, so that the clamping plane 423 can stably clamp the root of the dental diaphragm without being too wide and touching the tip of the dental diaphragm, thus preventing damage to the tip. Specifically, the width of the clamping plane 423 in the direction pointing to the cylinder 421 is 4mm.

[0037] Combination Figure 1 and Figure 2 As shown, specifically in this application, the model separation and conversion machine 10 includes a frame 500, which includes a frame 510, a mounting platform 520, and multiple doors 530. The mounting platform 520 and multiple doors 530 are all mounted on the frame 510, and the multiple doors 530 are collectively arranged around the first support frame 100, the ejector pin assembly 200, the second support frame 300, and the conveying mechanism 400 mounted on the mounting platform 520.

[0038] It is understood that the frame 510, as the main support structure in the model separation and conversion machine 10, provides stable support for the installation of other structures. The mounting platform 520 is mounted on the frame 510, and the first support frame 100, the ejector pin assembly 200, the second support frame 300, and the transport mechanism 400 are further mounted on the mounting platform 520. Thus, the frame 510 provides stable support for the first support frame 100, the ejector pin assembly 200, the second support frame 300, and the transport mechanism 400 through the mounting platform 520.

[0039] Multiple doors 530 are installed on the frame 510 and surround the mounting platform 520 to provide protection for the first support frame 100, the ejector assembly 200, the second support frame 300, and the conveying mechanism 400. Furthermore, all doors 530 can be opened and closed relative to the frame 510, allowing the operator to inspect the operation of the ejector assembly 200 and the conveying mechanism 400 from multiple directions, to load and unload the printing platform 20 onto the first support frame 100, and to load and unload the transfer platform 30 onto the second support frame 300.

[0040] Combination Figure 2 and Figure 3 As shown, specifically in this application, the ejector pin assembly 200 includes a first driving member 210, a mounting plate 220, and multiple ejector pins 230. The multiple ejector pins 230 are all mounted on the mounting plate 220 and are configured to correspond one-to-one with multiple through holes on the printing platform 20. The first driving member 210 is connected to the mounting plate 220 to drive the mounting plate 220 to rise and fall. When the first driving member 210 drives the mounting plate 220 to rise and fall, the mounting plate 220 will drive the multiple ejector pins 230 to rise and fall synchronously. The printing platform 20 has multiple through holes, and the multiple ejector pins 230 correspond one-to-one with the multiple through holes on the printing platform 20. Thus, the multiple ejector pins 230 can be inserted into the through holes from the side of the printing platform 20 away from the model and push against the model covering the through holes, causing the model to detach from the printing platform 20 when the printing platform 20 remains stationary.

[0041] Specifically, the first driving component 210 is a cylinder. The cylinder body can be installed below the mounting platform 520, while the mounting plate 220 and multiple ejector pins 230 are located above the mounting platform 520. The piston rod of the cylinder passes through the mounting platform 520 and is connected to the mounting plate 220.

[0042] Combination Figure 2 and Figure 3As shown, specifically in this application, the first support frame 100 includes a support base 110, a stop block 120, a limiting member 130, and a locking member 140. There are multiple stop blocks 120, all of which are connected to the support base 110 and together with the support base 110 form a slide groove 150 that can limit the movement direction of the printing platform 20 to a predetermined direction. The limiting member 130 and the locking member 140 cooperate to lock the printing platform 20 in the slide groove 150 along the predetermined direction; wherein, the predetermined direction is perpendicular to the direction of the pusher assembly 200 pushing the model.

[0043] Specifically, there are two support seats 110, spaced apart, and four stop blocks 120, each mounted in pairs on one of the two support seats 110 in a rectangular arrangement. The stop blocks 120 are L-shaped and, together with the surface of the support seats 110, form a U-shaped groove. Thus, the four stop blocks 120 and the four opposing grooves formed by the two support seats 110 together define a slide groove 150 that precisely accommodates the printing platform 20. When the printing platform 20 is accommodated within the slide groove 150, the two support seats 110 work together to stably support the printing platform 20, and the four stop blocks 120 limit the movement direction of the printing platform 20 to a predetermined direction, preventing the printing platform 20 from moving in the direction in which the ejector assembly 200 pushes the model, or in the direction in which the two support seats 110 are spaced apart. In this application, the directions (X-axis) of the two support seats 110 spaced apart, the predetermined direction (Y-axis), and the direction (Z-axis) of the pusher assembly 200 pushing the model are all perpendicular to each other. In other embodiments, the number of support seats 110 and stop blocks 120 can be changed as needed.

[0044] Furthermore, the limiting member 130 is located between the two support seats 110 and defines the reference position for the printing platform 20 to slide within the slide groove 150 by abutting against the printing platform 20. The locking member 140 is spaced apart from the limiting member 130 along a predetermined direction and abuts against the printing platform 20 at the end of the printing platform 20 away from the limiting member 130. Thus, the locking member 140 and the limiting member 130 abut against the two ends of the printing platform 20 respectively in a predetermined direction to lock the printing platform 20 within the slide groove 150. In this way, the printing platform 20 is locked and will not move, thereby facilitating the ejector assembly 200 to push the model away from the printing platform 20.

[0045] Specifically, the limiting member 130 includes a base 131 and an adjusting screw 132 mounted on the base 131. The adjusting screw 132 extends in a predetermined direction and has a limiting surface that can abut against the printing platform 20. The adjusting screw 132 rotates relative to the base 131 to change the position of the limiting surface in the predetermined direction.

[0046] It is understood that the base 131 of the two support seats 110 and the limiting member 130 is fixed on the mounting platform 520, and the mounting plate 220 and multiple ejector pins 230 are located between the two support seats 110. The position of the printing platform 20 in the slide groove 150 is limited by the limiting surface and multiple stop blocks 120, ensuring that the position of multiple through holes on the printing platform 20 corresponds one-to-one with the position of multiple ejector pins 230.

[0047] Continue reading Figure 2 and Figure 3 Specifically, in this application, the locking member 140 is installed on the support base 110 and includes a second driving member 141 and a rotating block 142. The second driving member 141 is connected to the rotating block 142 to drive the rotating block 142 to rotate and have a locked position and an unlocked position opposite to the locked position. When the rotating block 142 is in the locked position, it is located on the sliding path of the printing platform 20 in the slide groove 150 and clamps the printing platform 20 together with the limiting member 130. When the rotating block 142 is in the unlocked position, it is away from the sliding path. It is understandable that when the rotating block 142 is in the unlocked position, it is not on the sliding path of the printing platform 20 and cannot prevent the printing platform 20 from sliding along the slide 150. At this time, the operator can put the printing platform 20 carrying the model into the slide 150 or take the printing platform 20 with the model removed out of the slide 150. When the rotating block 142 is in the locked position, the rotating block 142 is on the sliding path of the printing platform 20 and abuts against the printing platform 20. Thus, the rotating block 142 and the adjusting screw 132 abut against the two sides of the printing platform 20 in the predetermined direction, respectively, preventing the printing platform 20 from sliding along the slide 150.

[0048] Continue reading Figure 2 and Figure 3 Specifically, in the embodiments of this application, the second support frame 300 includes a plurality of supports 310 and a clamping member 320. The plurality of supports 310 together form an installation groove 330 for accommodating the transfer platform 30. The clamping member 320 can push the transfer platform 30 and cooperate with at least one support 310 to clamp the transfer platform 30 together.

[0049] Specifically, there are four supports 310, each corresponding to one of the four apex corners of the rectangular transfer platform 30, and each is partially recessed to form a mounting groove 330 to accommodate the transfer platform 30. After the transfer platform 30 is installed in the mounting groove 330, the four supports 310 work together to support the transfer platform 30. A clamping member 320 is located between two of the supports 310, and pushes the transfer platform 30 against the inner wall of the mounting groove 330 formed by the other two supports 310, so that the clamping member 320 can cooperate with the two supports 310 to clamp the transfer platform 30. In other embodiments, the two supports 310 can be connected together to form a single support 310. In other embodiments, the number of supports 310 can also be different. Specifically, the clamping member 320 can adopt the same structural form as the limiting member 130 to clamp the transfer platform 30.

[0050] Combination Figure 1 , Figure 2 and Figure 4 As shown, in this application, the model separation and conversion machine 10 includes a vision module 600 and a control system (not shown). The vision module 600 is suspended above the first support frame 100 and the second support frame 300. The control system is connected to both the vision module 600 and the conveying mechanism 400. It can be understood that the vision module 600 can capture images of the printing platform 20 and the model mounted on the first support frame 100, and the transfer platform 30 mounted on the second support frame 300. The control system then uses the image information captured by the vision module 600 to obtain the position of the model, thereby controlling the movement of the conveying mechanism 400 to accurately grasp the model from the printing platform 20 and transport it to the target position on the transfer platform 30. In this application, the vision module 600 is specifically an industrial camera.

[0051] Specifically, in this application, the first support frame 100 and the second support frame 300 are spaced apart along a first direction, and the vision module 600 is slidably mounted on the frame 500 along the first direction. Thus, the vision module 600 can change its position by moving along the first direction to obtain more accurate image information of the first support frame 100 and the second support frame 300, thereby helping to improve the movement accuracy of the conveying mechanism 400. Specifically, the vision module 600 is mounted on the frame 510.

[0052] It should be noted that the first direction is the direction in which the two support seats 110 in the first support frame 100 are spaced apart. In other embodiments, the first direction may also be perpendicular to the direction in which the two support seats 110 are spaced apart.

[0053] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A model separation and conversion machine, characterized in that, include: The first support frame is used for detachably mounting the printing platform that carries the model; An ejector pin assembly is provided corresponding to the first support frame and is used to push the model away from the printing platform; The second support frame is used for the detachable installation of the transfer platform; and The transport mechanism is capable of transporting the model from the printing platform to the transfer platform.

2. The model separation and conversion machine according to claim 1, characterized in that, The handling mechanism includes a robotic arm and a gripper cylinder connected to the robotic arm. The robotic arm can drive the gripper cylinder to move between the first support frame and the second support frame. The gripper cylinder can open and close to clamp or release the model.

3. The model separation and conversion machine according to claim 2, characterized in that, The gripper cylinder includes a cylinder and two grippers connected to the cylinder. Each of the two grippers has a clamping plane on one end away from the cylinder and on the opposite side. The two clamping planes are parallel and face each other. An avoidance groove is provided on the side of the clamping plane closer to the cylinder.

4. The model separation and conversion machine according to claim 1, characterized in that, The ejector pin assembly includes a first driving component, a mounting plate, and multiple ejector pins. The multiple ejector pins are all mounted on the mounting plate and are configured to correspond one-to-one with multiple through holes on the printing platform. The first driving component is connected to the mounting plate to drive the mounting plate to move up and down.

5. The model separation and conversion machine according to claim 1, characterized in that, The first support frame includes a support base, stop blocks, limiting members, and locking members. There are multiple stop blocks, all of which are connected to the support base and together with the support base form a groove that can limit the movement direction of the printing platform to a predetermined direction. The limiting members and the locking members cooperate to lock the printing platform in the groove along the predetermined direction. The predetermined direction is perpendicular to the direction in which the ejector assembly pushes the model.

6. The model separation and conversion machine according to claim 5, characterized in that, The limiting member includes a base and an adjusting screw mounted on the base. The adjusting screw extends along the predetermined direction and has a limiting surface capable of abutting against the printing platform. The adjusting screw rotates relative to the base to change the position of the limiting surface in the predetermined direction. Alternatively, the locking member is mounted on the support base and includes a second driving member and a rotating block. The second driving member is connected to the rotating block to drive the rotating block to rotate and have a locked position and an unlocked position opposite to the locked position. In the locked position, the rotating block is located on the sliding path of the printing platform within the groove and, together with the limiting member, clamps the printing platform. In the unlocked position, the rotating block is away from the sliding path.

7. The model separation and conversion machine according to claim 1, characterized in that, The second support frame includes multiple supports and clamping members. The multiple supports together form a mounting groove for accommodating the transfer platform. The clamping members can push the transfer platform and cooperate with at least one of the supports to clamp the transfer platform together.

8. The model separation and conversion machine according to claim 1, characterized in that, The model separation and conversion machine includes a vision module and a control system. The vision module is suspended above the first support frame and the second support frame. The control system is connected to both the vision module and the transport mechanism.

9. The model separation and conversion machine according to claim 8, characterized in that, The model separation and conversion machine includes a frame, with the first support frame and the second support frame spaced apart along a first direction, and the vision module slidably connected to the frame along the first direction.

10. The model separation and conversion machine according to claim 1, characterized in that, The model separation and conversion machine includes a frame, which includes a frame, an installation platform, and multiple doors. The installation platform and multiple doors are all installed on the frame, and the multiple doors together surround the first support frame, the pin assembly, the second support frame, and the transport mechanism installed on the installation platform.

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