Three-axis manipulator for rotor winding and feeding machine

Abstract

The utility model discloses a three-axis mechanical arm for a rotor winding feeding machine. The three-axis mechanical arm comprises a plurality of supports, Y-axis moving assemblies are arranged on the supports, X-axis moving assemblies are installed on the Y-axis moving assemblies, Z-axis moving assemblies are installed on the X-axis moving assemblies, and clamping assemblies are arranged on the Z-axis moving assemblies. A plurality of clamping jaw heads are arranged at the bottom end of the clamping assembly, the side faces of the clamping jaw heads are attached, clamping jaw grooves are formed in the corresponding positions of the attaching face respectively, and the clamping jaw grooves are the same in size and used for clamping the rotor shaft. The three-axis mechanical arm can achieve more accurate, more stable and more efficient rotor feeding operation, manual intervention is reduced, a rotor can be directly placed on a winding die head of a rotor winding machine or other rotor machining mechanisms by clamping a rotor shaft, a carrier or other assemblies are not needed, the production cost is reduced, and the production efficiency is improved. And the production efficiency and the product quality are improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to mechanical technical field, concretely relates to a three -axis manipulator for rotor winding feeding machine. BACKGROUND

[0002] In the rotor winding process, the rotor needs to be transported from the carrier to the feeding station. Currently, manual feeding is mostly used, which has problems such as high labor intensity of workers and unguaranteed feeding quality. Even if a feeding device is installed, the feeding device generally clamps the outer circle of the rotor chip, and then the rotor is sent to other processing mechanism. However, since the feeding device clamps the outer circle of the rotor chip, the rotor cannot be directly placed into the winding die of the rotor winding machine, and a carrier or other components are needed, which increases the working steps and production cost and reduces the working efficiency.

[0003] Chinese patent publication No. CN215660254U, published on January 28, 2022, discloses a utility model named rotor feeding manipulator and corresponding spot welding test all-in-one machine. The utility model discloses a rotor feeding manipulator and corresponding spot welding test all-in-one machine for grabbing and feeding the rotor. The rotor feeding manipulator includes a base, a moving assembly, and a grabbing assembly. The grabbing assembly is connected with the moving assembly and is used for grabbing the rotor to perform feeding operation. The moving assembly is connected with the base and is used for driving the grabbing assembly to move to grab the rotor. The grabbing assembly includes a carrier block, a grabbing clamp, and a driver. The carrier block is provided with a sliding groove, the grabbing clamp is located in the sliding groove and is connected with the carrier block in a sliding manner, and the driver is used for driving the grabbing clamp to open and close. A rotating assembly is also provided, which is connected with the grabbing assembly and is used for rotating the grabbing assembly. The clamping end of the grabbing assembly of the utility model can only clamp the outer circle of the rotor chip, and the rotor cannot be directly placed into the winding die of the rotor winding machine or other rotor processing mechanism after clamping. A carrier or other components are needed, which increases the working steps and production cost and reduces the working efficiency. UTILITY MODEL CONTENTS

[0004] The utility model provides a three -axis manipulator for rotor winding feeding machine, through setting up X, Y, Z moving assembly and clamping jaw head, realize automatic rotor feeding, reduce labor cost, guarantee feeding quality.

[0005] A further object of the utility model is to achieve the grabbing and feeding of the rotor by clamping the rotor shaft, reduce the production steps, improve the production efficiency, and reduce the production cost.

[0006] In order to achieve the above object, the utility model discloses the following technical scheme: a three-axis manipulator for rotor winding feeding machine, including a plurality of supports, be equipped with Y axis moving assembly on the support, install X axis moving assembly on Y axis moving assembly, install Z axis moving assembly on X axis moving assembly, be equipped with clamping assembly on Z axis moving assembly, clamping assembly bottom is equipped with a plurality of jaw head, a plurality of jaw head side surface is pasted together, the corresponding position of the pasting surface is equipped with jaw slot respectively, a plurality of jaw slot size is same, is used for clamping rotor shaft. Three-axis manipulator can realize more accurate, more stable, more efficient rotor feeding operation, reduce manual intervention, through the clamping of rotor shaft, can directly place rotor to rotor winding machine winding die or other rotor processing mechanism, need not help carrier or other components, reduce production cost, improve production efficiency and product quality.

[0007] Preferably, the lower surface of one end of the X-axis moving assembly is provided with a Y-axis second sliding block, and the Y-axis second sliding block is slidingly installed on the Y-axis guide rail. The movement accuracy and stability of the manipulator in the Y-axis direction can be improved, and errors caused by friction or improper installation can be reduced, thereby improving the overall feeding accuracy and reliability.

[0008] Preferably, the lower surface of the other end of the X-axis moving assembly is provided with a Y-axis first sliding block, and the Y-axis first sliding block is connected to the Y-axis servo screw module. This design can ensure accurate positioning and repeat positioning accuracy of the Y-axis moving assembly, which is crucial for accurate feeding of the rotor and helps to improve production efficiency and product quality.

[0009] Preferably, the plurality of jaw heads are parallel jaw heads, and a finger clamping cylinder is connected to the jaw head. The design of parallel jaw heads and finger clamping cylinders can uniformly apply clamping force to the rotor shaft, avoiding rotor damage or feeding failure caused by uneven clamping. At the same time, this design also facilitates quick clamping and release, improving work efficiency.

[0010] Preferably, the bottom end of the finger clamping cylinder is provided with a fixed block, the lower surface of the fixed block is provided with a guide rail, and the plurality of jaw heads are slidingly installed in the guide rail. The sliding installation of the jaw heads in the guide rail under the fixed block can reduce friction when the jaw heads move, improve the response speed and positioning accuracy of the jaw heads, which is very beneficial for quickly and accurately clamping the rotor shaft.

[0011] Preferably, the side surface of the finger clamping cylinder is fixedly connected with a connecting block, the connecting block is fixedly connected with a Z-axis sliding block, and the Z-axis sliding block is connected with a Z-axis servo screw module. This design can ensure accurate control of the jaw head in the Z-axis direction, realize accurate positioning of the rotor shaft, and help improve the accuracy and consistency of feeding.

[0012] Preferably, the longitudinal section of the jaw slot is arc-shaped, with the same length as the length of the jaw head, and several jaw slots are combined to hold the rotor shaft. This design can ensure good contact area between the jaw head and the rotor shaft, provide stable clamping force, and reduce the risk of slipping or falling during clamping.

[0013] Preferably, the Z-axis servo screw module is installed on the X-axis slider, and a reinforcing plate is provided on the X-axis slider and connected with the Z-axis servo screw module. This structural design can enhance the rigidity and stability of the entire Z-axis, reduce vibration and deformation under high load or rapid movement, and improve the durability and reliability of the mechanical hand.

[0014] The beneficial effects of the utility model are: through the setting of X, Y, Z moving assembly and jaw head, realize automatic rotor feeding, reduce labor cost, ensure feeding quality. Through the clamping of the rotor shaft, the rotor is grabbed and fed, without setting a carrier or other components, reducing the production steps, improving the production efficiency and reducing the production cost. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is the overall structure diagram of the utility model.

[0016] Figure 2 It is Figure 1 It is the enlarged view of A.

[0017] Figure 3 It is a structural schematic view of the clamping assembly of the utility model.

[0018] Reference signs: 1: X-axis moving assembly; 1.1: X-axis slider; 1.2: X-axis servo motor; 1.3: X-axis servo screw module; 2: Y-axis moving assembly; 2.1: Y-axis guide rail; 2.2: Y-axis servo screw module; 2.3: Y-axis first slider; 2.4: Y-axis second slider; 3: Z-axis moving assembly; 3.1: Z-axis servo screw module; 3.2: Z-axis slider; 3.3: reinforcing plate; 3.4: connecting block; 4: clamping assembly; 4.1: jaw head; 4.2: jaw slot; 4.3: fixed block; 4.3.1: guide rail; 4.4: finger cylinder; 5: support; 6: rotor; 6.1: rotor shaft; 7: conveying belt. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be clearly and completely described below in combination with the drawings in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor belong to the protection scope of the utility model.

[0020] In the field of modern industrial automation, especially in the motor manufacturing industry, the automation degree of rotor winding feeding directly affects the production efficiency and product quality. In order to improve the automation level of this link, the utility model provides a three-axis mechanical hand for rotor winding feeding machine, the design of the mechanical hand aims to realize the automatic feeding of rotor 6 through accurate mechanical movement, thereby reducing manual operation and redundant step components, improving production efficiency and reducing cost.

[0021] As Figure 1The utility model discloses a three -axis mechanical hand is a kind of high -efficient, accurate automation equipment, to improve the automation level of rotor winding in motor manufacturing process. The mechanical hand includes several supports 5, four supports 5 are preferred in the embodiment, as the basic structure of entire mechanical hand. The design of support 5 needs to fully consider its carrying capacity and stability, to support the weight of entire mechanical hand and load in operating process. To ensure the durability and corrosion resistance of mechanical hand, support 5 is preferably made of high-strength steel or aluminum alloy material, these materials not only high strength, and can adapt to various working environments, reduce maintenance cost. Four supports 5 are arranged between rotor conveying belt 7, rotor carrier is placed on rotor conveying belt 7, rotor 6 is placed on rotor carrier. Rotor 6 is conveyed from carrier to feeding station, and is placed into multi-station winding machine winding die after being automatically grabbed by three-axis mechanical hand Rotor 6, and automatic winding is carried out. After winding is completed, three-axis mechanical hand automatically takes out rotor 6, and places back into carrier according to winding starting hook position uniform direction. Carrier is subsequently automatically flowed into next spot welding procedure with conveying belt 7 on equipment, realizes the full automation process of rotor from feeding to winding to spot welding. Support 5 is equipped with Y axis moving assembly 2, Y axis moving assembly 2 includes Y axis servo lead screw module 2.2 and Y axis guide rail 2.1, and is respectively arranged on two supports 5. Y axis servo lead screw module 2.2 and Y axis guide rail 2.1 are parallel and consistent in length, ensure the stability and synchronism of Y axis moving assembly 2 in moving process. Y axis moving assembly 2 is installed with X axis moving assembly 1, and the lower surface of X axis moving assembly 1 is respectively equipped with Y axis first sliding block 2.3 and Y axis second sliding block 2.4. Y axis first sliding block 2.3 is connected with Y axis servo lead screw module 2.2, and Y axis second sliding block 2.4 is connected with Y axis guide rail 2.1. Y axis servo lead screw module 2.2 is driven under the drive of Y axis servo motor to drive X moving assembly, Z moving assembly and clamping assembly 4 to move in Y axis direction, and Y axis guide rail 2.1 provides guidance and support for the movement in Y direction, to ensure the accuracy and stability of movement. Z axis moving assembly 3 is installed on X axis moving assembly 1, and the back of Z axis moving assembly 3 is connected with X axis sliding block 1.1, and X axis sliding block 1.1 is connected with X axis servo lead screw module 1.3. X axis moving assembly 1 is driven under the drive of X axis servo motor 1.2 to drive Z axis moving assembly 3 and clamping assembly 4 to move in X axis direction. This design makes the mechanical hand can move flexibly in horizontal direction to adapt to the feeding demand of different positions. Clamping assembly 4 is equipped on Z axis moving assembly 3, and clamping assembly 4 is connected through connecting block 3.4 and Z axis sliding block 3.2, and Z axis sliding block 3.2 is connected with Z axis servo lead screw module 3.1. Z axis moving assembly 3 is driven under the drive of Z axis motor to drive clamping assembly 4 to move in Z axis direction. This vertical direction movement ability makes the mechanical hand can accurately place rotor 6 to winding die, or take down winding completed rotor 6 from die. The bottom of clamping assembly 4 is equipped with a plurality of clamping jaw heads 4.1, and two clamping jaw heads 4.1 are preferred in the embodiment.Two clamping jaw heads 4.1 are side by side, and corresponding positions on the abutting surfaces are respectively provided with clamping jaw grooves 4.2. The plurality of clamping jaw grooves 4.2 are the same size, and two clamping jaw grooves 4.2 are preferred in this embodiment, which are used to clamp the rotor shaft 6.1. The design of the clamping jaw head 4.1 and the clamping jaw groove 4.2 ensures the stability and safety of the rotor shaft 6.1 during clamping, avoiding damage to the rotor or failure of feeding due to uneven clamping.

[0022] The structural design of the mechanical hand is the key to achieving automated feeding. The mechanical hand of the utility model is composed of three main moving assemblies: X-axis moving assembly 1, Y-axis moving assembly 2 and Z-axis moving assembly 3, and clamping assembly 4. The X-axis moving assembly 1 is responsible for moving in the left-right direction to adapt to the feeding requirements at different positions in the left-right direction. By design, the outer circle of the chip of the rotor 5 is avoided to be grabbed, and the rotor 6 is grabbed and fed by clamping the rotor shaft 6.1, so that the rotor 5 can be directly placed on the winding die of the winding machine, without the need to additionally set a carrier or other components. This improvement significantly reduces the production steps, thereby improving the production efficiency. In the traditional production process, the rotor needs to be transferred through multiple intermediate steps, including the use of a carrier or other auxiliary equipment. These steps not only increase the production cost, but also may cause damage or loss of the rotor during the transfer process. Through the design of the utility model, these intermediate steps are omitted, and the rotor can be directly moved from the feeding station to the winding station, greatly simplifying the production process. In addition, the omission of the use of carriers and other components also means that the number of devices required on the production line is reduced, which not only reduces the initial investment cost, but also reduces the maintenance and operating costs. Due to the reduction in the number of devices, the complexity of the production line is also reduced, which helps to improve the stability and reliability of the production line, reducing production interruptions due to device failures. In terms of improving production efficiency, by clamping the rotor shaft 6.1, the three-axis mechanical hand can quickly and accurately place the rotor 5 in the correct position without manual intervention. This automated feeding method greatly shortens the feeding time and improves the overall speed of the production line. At the same time, due to the precise control of the mechanical hand, the positioning accuracy of the rotor during the feeding process is guaranteed, which helps to improve the quality and consistency of the winding process. The Y-axis moving assembly 2 is responsible for moving in the front-back direction to adapt to the feeding requirements at different positions in the front-back direction. The Z-axis moving assembly 3 is responsible for moving in the up-down direction to adapt to the feeding requirements at different heights. The clamping assembly 4 is located on the sliding block of the Z-axis moving assembly 3 and is used to directly clamp the rotor shaft 6.1 to achieve precise feeding of the rotor 6. The X-axis moving assembly 1, the Y-axis moving assembly 2 and the Z-axis moving assembly 3 are perpendicular to each other.

[0023] As Figure 1As shown, the Y-axis moving assembly 2 is installed on the bracket 5 and is responsible for moving in the front-back direction. The design of the Y-axis moving assembly 2 needs to consider the load capacity, moving speed and precision to ensure stability and accuracy during high-speed movement. The lower surface of one end of the X-axis moving assembly 1 is provided with a Y-axis second sliding block 2.4. The design of the Y-axis second sliding block 2.4 needs to consider the smoothness and wear resistance of sliding. The material is preferably a low-friction coefficient material such as polytetrafluoroethylene or a special coated steel material. The bottom surface of the Y-axis second sliding block 2.4 is provided with a sliding groove, and the upper surface of the Y-axis guide rail 2.1 is provided with a protrusion. The sliding groove of the Y-axis second sliding block 2.4 is slidably installed on the protrusion of the Y-axis guide rail 2.1, which can improve the moving precision and stability of the robot in the Y-axis direction, reduce errors caused by friction or improper installation, and thus improve the overall feeding precision and reliability. The lower surface of the other end of the X-axis moving assembly 1 is provided with a Y-axis first sliding block 2.3. The design of the Y-axis first sliding block 2.3 needs to consider the stability of the connection with the Y-axis servo screw module 2.2. It is usually made of high-strength material to ensure stability and durability under high load. The Y-axis first sliding block 2.3 is connected to the Y-axis servo screw module 2.2, and an oil injection hole is provided on the Y-axis first sliding block 2.3. The oil injection hole is used for oil lubrication to ensure smooth operation of the device. The end of the Y-axis servo screw module 2.2 away from the rotor 6 working position is provided with a Y-axis servo motor for driving the Y-axis sliding block to move forward and backward, and to move precisely in the Y-axis direction. Such design can ensure accurate positioning and repeat positioning accuracy of the Y-axis moving assembly 2, which is crucial for accurate feeding of the rotor 6 and helps to improve production efficiency and product quality.

[0024] As shown, Figure 1 The Y-axis first sliding block 2.3 and the Y-axis second sliding block 2.4 are provided with an X-axis moving assembly 1. The X-axis moving assembly 1 includes an X-axis servo screw module 1.3. The Y-axis first sliding block 2.3 and the Y-axis second sliding block 2.4 are installed below the X-axis servo screw module 1.3. The X-axis servo screw module 1.3 is connected with an X-axis sliding block 1.1. The end of the X-axis servo screw module 1.3 away from the Y-axis guide rail 2.1 is provided with an X-axis servo motor 1.2 for driving the X-axis sliding block 1.1 to move in the left-right direction. Such design can ensure accurate positioning and repeat positioning accuracy of the X-axis moving assembly 1, which is crucial for accurate feeding of the rotor 6 and helps to improve production efficiency and product quality.

[0025] The Z-axis servo screw module 3.1 is installed on the X-axis slider 1.1, and the X-axis slider 1.1 is installed on the middle and lower part of the back of the Z-axis servo screw module 3.1. The upper surface of the X-axis slider 1.1 is provided with a reinforcing plate 3.3, and the reinforcing plate 3.3 is connected with the Z-axis servo screw module 3.1. The reinforcing plate 3.3 is a trapezoidal shape with one corner cut off, and the lower base of the trapezoid is connected with the back of the Z-axis servo screw module 3.1. The length is slightly smaller than the distance from the X-axis slider 1.1 to the top of the Z-axis servo screw module 3.1. Such a structural design can enhance the rigidity and stability of the entire Z-axis, reduce vibration and deformation under high load or rapid movement, and improve the durability and reliability of the mechanical hand. The side of the clamping cylinder 4.4 is fixedly connected with the connecting block 3.4, and the connecting block 3.4 is fixedly connected with the Z-axis slider 3.2, and the Z-axis slider 3.2 is connected with the Z-axis servo screw module 3.1. Such a design can ensure the precise control of the clamping jaw head 4.1 in the Z-axis direction, realize the precise positioning of the rotor shaft 6.1, and help improve the accuracy and consistency of the feeding.

[0026] As shown in Figure 2 and Figure 3 , the clamping assembly 4 is the core part of the mechanical hand, which directly improves the efficiency and quality of feeding. The bottom end of the clamping assembly 4 is provided with a plurality of clamping jaw heads 4.1, and two clamping jaw heads 4.1 are preferred in this embodiment. The side surfaces of the two clamping jaw heads 4.1 are in close contact, and corresponding positions on the contact surfaces are respectively provided with clamping jaw grooves 4.2. The sizes of the clamping jaw grooves 4.2 are the same, specifically, the lengths, widths and depths of the two clamping jaw grooves 4.2 are the same, which are used for clamping the rotor shaft 6.1. This design allows the clamping assembly 4 to stably clamp and release the rotor shaft 6.1 without damaging the rotor shaft 6.1.

[0027] The clamping jaw head 4.1 adopts a parallel design to ensure uniform clamping of the rotor shaft 6.1 and avoid damage to the rotor 6 or feeding failure due to uneven clamping. The clamping jaw head 4.1 is preferably made of high-strength material to ensure durability and reliability under high load. The shape and size of the clamping jaw head 4.1 are customized according to the size and shape of the rotor shaft 6.1 to ensure the best clamping effect. The longitudinal section of the clamping jaw groove 4.2 is arc-shaped, and the length is the same as that of the clamping jaw head 4.1. The two clamping jaw grooves 4.2 are combined to clamp the rotor shaft 6.1. This arc-shaped design can ensure good contact area between the clamping jaw head 4.1 and the rotor shaft 6.1, providing stable clamping force. The arc-shaped clamping jaw groove 4.2 design takes into account the shape and material properties of the rotor shaft 6.1 to ensure that the rotor shaft 6.1 will not be damaged due to excessive clamping force during clamping.

[0028] The bottom end of the finger clamping cylinder 4.4 is provided with a fixed block 4.3, and the lower surface of the fixed block 4.3 is provided with a guide rail 2.3.1, and the two clamping jaw heads 4.1 are slidingly installed in the guide rail 2.3.1. The clamping jaw head 4.1 is slidingly installed in the guide rail 2.3.1 below the fixed block 4.3, which can reduce the friction when the clamping jaw head 4.1 moves, improve the response speed and positioning accuracy of the clamping jaw head 4.1, which is very beneficial to quickly and accurately clamp the rotor shaft 6.1. The design of the guide rail 2.3.1 takes into account the wear resistance and stability, and is preferably made of hard anodized aluminum or other high-strength materials to ensure that it can still maintain accurate sliding performance during long-term use. The design of the guide rail 2.3.1 not only improves the moving efficiency of the clamping jaw head 4.1, but also helps to reduce maintenance requirements and prolong the service life of the robot. The precise fit of the guide rail 2.3.1 also reduces positioning errors caused by wear, ensuring the consistency and reliability of the clamping operation. The clamping jaw head 4.1 is connected with the finger clamping cylinder 4.4, and the design of parallel clamping jaw head 4.1 and finger clamping cylinder 4.4 can uniformly apply clamping force to the rotor shaft 6.1, avoiding damage to the rotor 6 or feeding failure caused by uneven clamping. At the same time, this design also facilitates quick clamping and release, improving work efficiency. The advantage of this design is its symmetry, which can ensure that the rotor shaft 6.1 receives balanced force during clamping, thereby reducing deviations caused by uneven force. The finger clamping cylinder 4.4 serves as the power source for the clamping jaw head 4.1, and its response speed and power control are crucial to the efficiency and safety of the clamping operation. The fast response capability of the cylinder allows clamping and releasing operations to be completed in a very short time, greatly improving work efficiency.

[0029] Obviously, the above embodiments are only examples for the sake of clarity, and are not limitations of the embodiments. Based on the above description, those skilled in the art can make other different forms of changes or variations. Here, it is not necessary and impossible to exhaust all embodiments. The obvious changes or variations derived therefrom are still within the protection scope of the present application.

Claims

1. A three-axis mechanical hand for a rotor winding feeder, comprising a plurality of supports, characterized in that, a Y-axis moving assembly is arranged on the support, an X-axis moving assembly is arranged on the Y-axis moving assembly, a Z-axis moving assembly is arranged on the X-axis moving assembly, and a clamping assembly is arranged on the Z-axis moving assembly; a plurality of clamping head are arranged at the bottom end of the clamping assembly, the side surfaces of the plurality of clamping head are in abutment, the abutment surfaces are respectively provided with clamping grooves at corresponding positions, the plurality of clamping grooves are of the same size and are used for clamping a rotor shaft.

2. The three-axis robot for a rotor winding feeding machine according to claim 1, characterized in that, A Y-axis second sliding block is arranged on the lower surface of one end of the X-axis moving assembly, and the Y-axis second sliding block is slidingly installed on the Y-axis guide rail.

3. The three-axis robot for a rotor winding feeding machine according to claim 1 or 2, characterized in that, A Y-axis first sliding block is arranged on the lower surface of the other end of the X-axis moving assembly, and the Y-axis first sliding block is connected to the Y-axis servo lead screw module.

4. The three-axis robot for a rotor winding feeding machine according to claim 1, characterized in that, The plurality of clamping head are parallel clamping head, and a clamping finger cylinder is connected to the clamping head.

5. A three-axis robot for a rotor winding feeder as claimed in claim 4, characterized in that, A fixed block is arranged at the bottom end of the clamping finger cylinder, a guide rail is arranged on the lower surface of the fixed block, and the plurality of clamping head are slidingly installed in the guide rail.

6. A three-axis robot for a rotor winding loading machine according to claim 4 or 5, characterized in that, The side surface of the clamping finger cylinder is fixedly connected to a connecting block, the connecting block is fixedly connected to a Z-axis sliding block, and the Z-axis sliding block is connected to a Z-axis servo lead screw module.

7. The three-axis robot for a rotor winding loading machine according to claim 5, characterized in that, The longitudinal section of the clamping groove is arc-shaped, the length of the clamping groove is the same as the length of the clamping head, and the plurality of clamping grooves are combined to clamp the rotor shaft.

8. The three-axis robot for a rotor winding loading machine according to claim 6, characterized in that, The Z-axis servo lead screw module is installed on an X-axis sliding block, and a reinforcing plate is arranged on the X-axis sliding block and connected to the Z-axis servo lead screw module.

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