Assembly line equipment for left and right handles of front door of automobile
By introducing automation technology and intelligent control systems, the efficient and precise assembly of the left and right front door handles of automobiles has been achieved, solving the problems of low efficiency and difficulty in guaranteeing quality in traditional manual assembly, reducing the labor intensity of workers, and improving the production efficiency of enterprises.
Patent Information
- Application Number
- CN202520083695.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-14
- Publication Date
- 2025-12-26
- Estimated Expiration
- 2035-01-14
AI Technical Summary
Existing automotive front door handle assembly equipment suffers from low efficiency, difficulty in guaranteeing quality, and increased labor intensity for workers.
The automotive front door left and right handle assembly line equipment, through the introduction of automation technology and intelligent control system, has achieved automation and intelligent control system for the automotive front door left and right handle assembly line equipment. Through the coordinated use of different equipment, the automation of the automotive front door left and right handle assembly line equipment has been realized, achieving efficient and precise assembly of the left and right front doors of automobiles, reducing the labor intensity of manual assembly, and improving enterprise production efficiency.
It enables efficient and precise assembly of the left and right front door handles of automobiles, reducing the labor intensity of manual assembly and improving the production efficiency of enterprises.
Smart Images
Figure CN223718826U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to the technical field of automobile handle assembling line, especially to a kind of automobile front door left and right handle assembling line equipment. BACKGROUND
[0002] With the rapid development of automobile industry, the automation and intelligent level in the process of automobile manufacturing are also continuously improved, and the assembling quality and efficiency of automobile front door left and right handle, as an important component of door, directly affect the quality and production efficiency of whole vehicle.
[0003] The traditional automobile front door left and right handle assembling mode is mostly manually operated, which is not only inefficient, but also difficult to guarantee the assembling quality, and increases the labor intensity of workers.
[0004] In order to solve the above problems, an automobile front door left and right handle assembling line equipment appears in the market, which realizes efficient and accurate assembling of automobile front door left and right handle by introducing automation technology and intelligent control system. UTILITY MODEL CONTENTS
[0005] To solve the above technical problems, the utility model provides an automobile front door left and right handle assembling line equipment, which realizes efficient and accurate assembling of automobile front door left and right handle, reduces the labor intensity of manual assembling, and improves the production efficiency of enterprise.
[0006] The automobile front door left and right handle assembling line equipment of the utility model comprises a rack, a safety grating, a man-machine interface and an emergency stop starting manual operation required device are arranged on the rack; further comprising a quadrant turntable device, a shock pad assembling device, a pin shaft assembling device, a spring assembling device and a material taking device, the quadrant turntable device is installed inside the rack, the shock pad assembling device, the pin shaft assembling device and the spring assembling device are arranged in three directions inside the rack around the quadrant turntable device, and an opposite door is arranged at the corresponding three directions of the rack; the equipment adopts automation technology and intelligent control system, realizes efficient and accurate assembling of automobile front door left and right handle through cooperation between different equipment, reduces the labor intensity of manual assembling, and improves the production efficiency of enterprise.
[0007] Preferably, the quadrant turntable device comprises a plurality of profiled membranes, a plurality of positioning membranes, a plurality of first detection devices, a plurality of second detection devices and a plurality of third detection devices, which are circumferentially installed on the outer side wall of the top end of the quadrant turntable device; the worker puts the product into the profiled membrane and the positioning membrane, and the first detection device, the second detection device and the third detection device detect whether there is a product and whether it is placed in place, so as to improve the positioning accuracy of the product and improve the automation effect.
[0008] Preferably, the pin shaft assembly device comprises a three-axis robot, a seventh cylinder, an oiling machine, a second discharge port, a first clamp and a first vibrating disc, the seventh cylinder and the oiling machine are fixed on the outer wall of the three-axis robot, the first vibrating disc is installed on the outer wall of the rack, the second discharge port is installed on the outer wall of the rack, and the first clamp is installed on the outer wall of the profiled tire membrane; under the action of the three-axis robot, the seventh cylinder is moved to the second discharge port, then the seventh cylinder is moved to the vicinity of the pin shaft through the three-axis robot, at this time the pin shaft is grabbed through the seventh cylinder, the seventh cylinder is moved to the vicinity of the designated position of the product through the action of the three-axis robot, the pin shaft is placed at the designated position through the action of the seventh cylinder, the oiling machine is rotated to the designated position under the action of the three-axis robot, and the designated position of the product is oiled under the action of the oiling machine.
[0009] Preferably, the shock pad assembly device comprises a first linear module, a first cylinder, a second cylinder, a third cylinder, a fourth cylinder, a first discharge port, a fifth cylinder and a sixth cylinder, the first cylinder, the second cylinder and the third cylinder are installed on the first linear module, the first discharge port is installed on the outer wall of the rack, the shock pad is between the second cylinder and the fourth cylinder, the fifth cylinder is installed on the outer wall of the rack, the sixth cylinder is installed on the moving end of the fifth cylinder, and the fourth cylinder is installed on the moving end of the sixth cylinder; under the action of the first linear module, the first cylinder and the second cylinder are moved above the first discharge port, under the action of the first cylinder, the second cylinder is moved to the vicinity of the shock pad, the shock pad is clamped under the action of the second cylinder, under the action of the first cylinder, the second cylinder is lifted to the designated position, under the action of the first linear module, the first cylinder and the second cylinder are moved above the product, under the action of the first cylinder, the shock pad is assembled into the product, under the action of the fourth cylinder, the tail of the shock pad is clamped, and under the action of the sixth cylinder, the shock pad is installed.
[0010] Preferably, the spring assembly device comprises a second linear module, a guide frame, an eighth cylinder, a ninth cylinder, a tenth cylinder, an eleventh cylinder, a second clamp, a twelfth cylinder, a thirteenth cylinder, a fourteenth cylinder, a fifteenth cylinder, a second vibration disc, a third vibration disc, a fourth vibration disc, a seventeenth cylinder, an eighteenth cylinder and a fixing base, the second linear module, the fourteenth cylinder, the fifteenth cylinder, the second vibration disc, the third vibration disc and the fourth vibration disc are all installed on the outer sidewall of the rack, the guide frame, the eighth cylinder and the ninth cylinder are all installed on the moving end of the guide frame, the tenth cylinder, the eleventh cylinder and the second clamp are respectively installed on the moving end of the eighth cylinder and the ninth cylinder, the twelfth cylinder, the seventeenth cylinder, the eighteenth cylinder and the fixing base are respectively installed on the outer sidewall of the fifteenth cylinder; the product is sent to the designated position under the action of the second vibration disc, the spring pin shaft is moved to the designated position under the action of the fifteenth cylinder, the iron sheet is inserted into the product under the action of the cylinder fifteenth cylinder, whether the spring pin shaft is placed in the appropriate position is detected at the same time, the servo motor and the cylinder eighteenth cylinder are moved to the designated position under the action of the twelfth cylinder, the servo motor and the thirteenth cylinder are moved to the vicinity of the product under the action of the thirteenth cylinder, the thirteenth cylinder is rotated to the appropriate position under the action of the servo motor, and the product is clamped at the same time under the action of the thirteenth cylinder, the thirteenth cylinder and the servo motor are moved upward under the action of the eighteenth cylinder, the servo motor and the thirteenth cylinder are moved to the designated position under the action of the twelfth cylinder, the thirteenth cylinder is moved below under the action of the seventeenth cylinder, the thirteenth cylinder is moved above the seventeenth cylinder under the action of the eighteenth cylinder, the spring pin shaft is placed near the seventeenth cylinder under the action of the thirteenth cylinder, the spring pin shaft is moved to the designated position under the action of the seventeenth cylinder, the spring is taken under the action of the fixing base, the spring pin shaft on the seventeenth cylinder is matched with the spring on the fixing base under the action of the fifteenth cylinder, the mechanism carried by the ninth cylinder is moved above the spring under the action of the second linear module, the mechanism connected with the ninth cylinder is moved to the vicinity of the spring under the action of the ninth cylinder, the spring is grabbed under the action of the tenth cylinder and the second clamp, the connected mechanism is lifted under the action of the ninth cylinder, the ninth cylinder is moved as a whole above the product under the action of the second linear module, the tenth cylinder and the second clamp are moved to the vicinity of the product under the action of the ninth cylinder, the spring is punched into the product under the action of the eleventh cylinder, at this time, the pin shaft device is punched into the product and connected with the spring under the action of the fourteenth cylinder.
[0011] Preferably, the taking-out device comprises a third linear module, a support, a motor, a third clamp and a nineteenth cylinder, the third linear module is installed inside the rack, the support is installed on the outer side wall of the third linear module, the motor, the third clamp and the nineteenth cylinder are installed on the support respectively; under the action of the third linear module, the nineteenth cylinder, the motor and the third clamp are moved above the product, under the action of the nineteenth cylinder, the motor and the third clamp are moved near the product, under the action of the third clamp, the product is grabbed, under the action of the motor, the product is rotated to a suitable position, under the action of the nineteenth cylinder, the product is extracted, under the action of the third linear module, the nineteenth cylinder connecting mechanism is moved above the conveying belt, under the action of the nineteenth cylinder, the third clamp is moved near the conveying belt, and the product is placed on the conveying belt through the action of the third clamp.
[0012] Compared with the prior art, the device adopts automation technology and an intelligent control system, and through cooperation between different devices, efficient and accurate assembly of the left and right handles of the automobile front door is realized, the labor intensity of manual assembly is reduced, and the production efficiency of enterprises is improved. BRIEF DESCRIPTION OF DRAWINGS
[0013] Figure 1 is a perspective structural schematic view of the utility model;
[0014] Figure 2 is a perspective local structural schematic view of connection of the four-quadrant rotary table device and the profiled tire membrane;
[0015] Figure 3 is a perspective local structural schematic view of connection of the first linear module and the first cylinder;
[0016] Figure 4 is a perspective local structural schematic view of connection of the three-axis robot and the seventh cylinder;
[0017] Figure 5 is a perspective local structural schematic view of connection of the second linear module and the guide frame;
[0018] Figure 6 is a perspective local structural schematic view of connection of the third linear module and the support.
[0019] In the attached diagram, the following markings are used: 100, frame; 200, four-section turntable device; 201, conformal membrane; 202, positioning membrane; 203, first detection device; 204, second detection device; 205, third detection device; 300, shock-absorbing pad assembly device; 301, first linear module; 302, first cylinder; 303, second cylinder; 304, third cylinder; 305, fourth cylinder; 306, first discharge port; 307, fifth cylinder; 308, sixth cylinder; 400, pin assembly device; 401, three-axis robot; 402, seventh cylinder; 403, oiling machine; 404, second discharge port; 405, first clamp; 406, first vibratory feeder; 500 501. Spring assembly device; 502. Second linear module; 503. Guide frame; 504. Eighth cylinder; 505. Ninth cylinder; 506. Tenth cylinder; 507. Eleventh cylinder; 508. Second clamp; 509. Twelfth cylinder; 511. Fourteenth cylinder; 512. Fifteenth cylinder; 513. Sixteenth cylinder; 514. Second vibratory plate; 515. Third vibratory plate; 516. Fourth vibratory plate; 517. Seventeenth cylinder; 518. Eighteenth cylinder; 519. Fixed base; 600. Material handling device; 601. Third linear module; 602. Support; 603. Motor; 604. Third clamp; 605. Nineteenth cylinder. Detailed Implementation
[0020] To facilitate understanding of this utility model, a more complete description will be given below with reference to the accompanying drawings. This utility model can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to make the disclosure of this utility model more thorough and complete.
[0021] Example 1
[0022] like Figures 1 to 6 As shown, this utility model discloses an assembly line equipment for the left and right front door handles of automobiles, including a frame 100. The frame 100 is equipped with a safety light curtain, a human-machine interface, and devices required for manual operation of emergency stop and start. It also includes a four-section turntable device 200, a shock-absorbing pad assembly device 300, a pin assembly device 400, a spring assembly device 500, and a material handling device 600. The four-section turntable device 200 is installed inside the frame 100. The shock-absorbing pad assembly device 300, the pin assembly device 400, and the spring assembly device 500 are respectively arranged around the four-section turntable device 200 at three positions inside the frame 100, and double doors are provided at the corresponding three positions of the frame 100.
[0023] like Figure 2As shown, the quadrant turntable device 200 includes a plurality of groups of profiled tire membranes 201, a plurality of groups of positioning tire membranes 202, a plurality of groups of first detection devices 203, a plurality of groups of second detection devices 204 and a plurality of groups of third detection devices 205, and the plurality of groups of profiled tire membranes 201, the plurality of groups of positioning tire membranes 202, the plurality of groups of first detection devices 203, the plurality of groups of second detection devices 204 and the plurality of groups of third detection devices 205 are respectively installed in the circumferential direction on the outer side wall of the top end of the quadrant turntable device 200.
[0024] In the embodiment, the device adopts automation technology and intelligent control system, and through cooperation between different devices, efficient and accurate assembly of the left and right handles of the automobile front door is realized, labor intensity of manual assembly is reduced, and enterprise production efficiency is improved.
[0025] Embodiment 2
[0026] Based on the embodiment 1, as Figure 4 shown, the automobile front door left and right handle assembly line equipment of the utility model, the pin shaft assembly device 400 includes a three-axis robot 401, a seventh cylinder 402, an oiling machine 403, a second discharge port 404, a first clamp 405 and a first vibration disc 406, the seventh cylinder 402 and the oiling machine 403 are both fixed on the outer side wall of the three-axis robot 401, the first vibration disc 406 is installed on the outer side wall of the rack 100, the second discharge port 404 is installed on the outer side wall of the rack 100, and the first clamp 405 is installed on the outer side wall of the profiled tire membrane 201.
[0027] As Figure 3 shown, the damping pad assembly device 300 includes a first linear module 301, a first cylinder 302, a second cylinder 303, a third cylinder 304, a fourth cylinder 305, a first discharge port 306, a fifth cylinder 307 and a sixth cylinder 308, the first cylinder 302, the second cylinder 303 and the third cylinder 304 are all installed on the first linear module 301, the first discharge port 306 is installed on the outer side wall of the rack 100, the damping pad is between the second cylinder 303 and the fourth cylinder 305, the fifth cylinder 307 is installed on the outer side wall of the rack 100, the sixth cylinder 308 is installed on the moving end of the fifth cylinder 307, and the fourth cylinder 305 is installed on the moving end of the sixth cylinder 308.
[0028] As Figure 5As shown, the spring assembly device 500 includes a second linear module 501, a guide frame 502, an eighth cylinder 503, a ninth cylinder 504, a tenth cylinder 505, an eleventh cylinder 506, a second clamp 507, a twelfth cylinder 508, a thirteenth cylinder 509, a fourteenth cylinder 511, a fifteenth cylinder 512, a second vibration disc 514, a third vibration disc 515, a fourth vibration disc 516, a seventeenth cylinder 517, an eighteenth cylinder 518, and a fixed seat 519, the second linear module 501, the fourteenth cylinder 511, the fifteenth cylinder 512, the second vibration disc 514, the third vibration disc 515, and the fourth vibration disc 516 are all installed on the outer side wall of the rack 100, the guide frame 502, the eighth cylinder 503, and the ninth cylinder 504 are all installed on the moving end of the guide frame 502, the tenth cylinder 505, the eleventh cylinder 506, and the second clamp 507 are respectively installed on the moving end of the eighth cylinder 503 and the ninth cylinder 504, the twelfth cylinder 508, the seventeenth cylinder 517, the eighteenth cylinder 518, and the fixed seat 519 are respectively installed on the outer side wall of the fifteenth cylinder 512.
[0029] As shown in the figure, Figure 6 The taking device 600 includes a third linear module 601, a support 602, a motor 603, a third clamp 604, and a nineteenth cylinder 605, the third linear module 601 is installed inside the rack 100, the support 602 is installed on the outer side wall of the third linear module 601, the motor 603, the third clamp 604, and the nineteenth cylinder 605 are respectively installed on the support 602.
[0030] In this embodiment, the worker puts the product into the profiling tire membrane 201 and the positioning tire membrane 202, and the first detection device 203, the second detection device 204, and the third detection device 205 detect whether there is a product and whether it is placed in place, thereby improving the positioning accuracy of the product and improving the automation effect, under the action of the three-axis robot 401, the seventh cylinder 402 is moved to the second discharge port 404, then the seventh cylinder 402 is moved to the vicinity of the pin shaft through the three-axis robot 401, at this time the pin shaft is grabbed through the seventh cylinder 402, the seventh cylinder 402 is moved to the vicinity of the designated position of the product through the action of the three-axis robot 401, the pin shaft is placed in the designated position through the action of the seventh cylinder 402, under the action of the three-axis robot 401, the oiling machine 403 is rotated to the designated position, under the action of the oiling machine 403, the designated position of the product is oiled.
[0031] The utility model discloses a kind of automobile front door left and right handle assembly line equipment, when working, worker places product in profiled moulding 201 and positioning moulding 202, whether there is product and whether it is placed in place is detected simultaneously by first detection device 203, second detection device 204 and third detection device 205, under the action of three-axis robot 401, seventh cylinder 402 is moved to second discharge port 404, then seventh cylinder 402 is moved to pin shaft vicinity by three-axis robot 401, pin shaft is grabbed by seventh cylinder 402 at this time, seventh cylinder 402 is moved to product specified position vicinity by the action of three-axis robot 401, pin shaft is placed specified position by the action of seventh cylinder 402, oiling machine 403 is rotated to specified position under the action of three-axis robot 401, product specified position is oiled under the action of oiling machine 403, first cylinder 302 and second cylinder 303 are moved to first discharge port 306 above under the action of first linear module 301, second cylinder 303 is moved to shock pad vicinity under the action of first cylinder 302, shock pad is clamped under the action of second cylinder 303, second cylinder 303 is lifted to specified position under the action of first cylinder 302, first cylinder 302 and second cylinder 303 are moved to product above under the action of first linear module 301, shock pad is assembled to product under the action of first cylinder 302, shock pad tail is clamped under the action of fourth cylinder 305, shock pad is installed to complete under the action of sixth cylinder 308, product is sent in specified position under the action of second vibration disc 514, spring pin shaft is moved to specified position under the action of fifteenth cylinder 512, iron sheet is inserted into product under the action of cylinder fifteenth cylinder 512, whether spring pin shaft is placed in suitable position is detected, servo motor and cylinder eighteenth cylinder 518 are moved to specified position under the action of twelfth cylinder 508, servo motor and thirteenth cylinder 509 are moved to product vicinity under the action of thirteenth cylinder 509, thirteenth cylinder 509 is rotated to suitable position under the action of servo motor, product is clamped under the action of thirteenth cylinder 509, thirteenth cylinder 509 and servo motor are moved upwards under the action of eighteenth cylinder 518, servo motor and thirteenth cylinder 509 are moved to specified position under the action of twelfth cylinder 508, thirteenth cylinder 509 is moved below seventeenth cylinder 517 under the action of seventeenth cylinder 517, thirteenth cylinder 509 is moved above seventeenth cylinder 517 under the action of eighteenth cylinder 518, spring pin shaft is placed seventeenth cylinder 517 vicinity under the action of thirteenth cylinder 509, spring pin shaft is moved to specified position under the action of seventeenth cylinder 517, spring is taken under the action of fixed seat 519, spring pin shaft on seventeenth cylinder 517 and spring on fixed seat 519 are matched under the action of fifteenth cylinder 512, mechanism carried by ninth cylinder 504 is moved to spring above under the action of second linear module 501,The mechanism connected by the ninth cylinder 504 is moved to the vicinity of the spring under the action of the ninth cylinder 504, the spring is gripped under the action of the tenth cylinder 505 and the second clamp 507, the connected mechanism is lifted under the action of the ninth cylinder 504, the ninth cylinder 504 is integrally moved to the upper of the product under the action of the second linear module 501, the tenth cylinder 505 and the second clamp 507 are moved to the vicinity of the product under the action of the ninth cylinder 504, the spring is punched into the product under the action of the eleventh cylinder 506, at this time, the pin shaft device is punched into the product and connected with the spring under the action of the fourteenth cylinder 511.
[0032] The automobile front door left and right handle assembly line equipment of the utility model realizes the efficient and accurate assembly of automobile front door left and right handle, reduces the labor intensity of manual assembly, improves enterprise production efficiency, and is purchased on the market, and technical personnel in the industry only need to install and operate according to the attached instruction manual, without the creative labor of the technical personnel in the field.
[0033] The above is only the preferred embodiment of the utility model, and it should be pointed out that, for ordinary technical personnel in the technical field, without departing from the technical principle of the utility model, a number of improvements and modifications can be made, and these improvements and modifications should be regarded as the protection range of the utility model.
Claims
1. A kind of automobile front door left and right handle assembly line equipment, including rack (100), safety grating is provided on rack (100), man-machine interface and the device required by manual operation of emergency stop start;It is characterized in that, Also include quarter turn rotary table device (200), shock pad assembly device (300), pin shaft assembly device (400), spring assembly device (500) and material taking device (600), quarter turn rotary table device (200) is installed in the inside of rack (100), shock pad assembly device (300), pin shaft assembly device (400) and spring assembly device (500) are respectively arranged in three directions in the inside of rack (100) around quarter turn rotary table device (200), and the corresponding three directions of rack (100) are provided with opposite doors.
2. The left and right handle assembly line equipment for a front door of an automobile according to claim 1, characterized in that, The quarter turn rotary table device (200) includes a plurality of profiled tire membranes (201), a plurality of positioning tire membranes (202), a plurality of first detection devices (203), a plurality of second detection devices (204) and a plurality of third detection devices (205), a plurality of profiled tire membranes (201), a plurality of positioning tire membranes (202), a plurality of first detection devices (203), a plurality of second detection devices (204) and a plurality of third detection devices (205) are respectively installed on the outer side wall of the top end of the quarter turn rotary table device (200).
3. The equipment for assembling the left and right handles of the front door of an automobile according to claim 1, characterized in that, The pin shaft assembly device (400) includes a three-axis robot (401), a seventh cylinder (402), an oiling machine (403), a second discharge port (404), a first clamp (405) and a first vibration disc (406), the seventh cylinder (402) and the oiling machine (403) are fixed on the outer side wall of the three-axis robot (401), the first vibration disc (406) is installed on the outer side wall of the rack (100), the second discharge port (404) is installed on the outer side wall of the rack (100), and the first clamp (405) is installed on the outer side wall of the profiled tire membrane (201).
4. The left and right handle assembly line equipment for a front door of an automobile according to claim 1, characterized in that, The shock pad assembly device (300) includes a first linear module (301), a first cylinder (302), a second cylinder (303), a third cylinder (304), a fourth cylinder (305), a first discharge port (306), a fifth cylinder (307) and a sixth cylinder (308), the first cylinder (302), the second cylinder (303) and the third cylinder (304) are installed on the first linear module (301), the first discharge port (306) is installed on the outer side wall of the rack (100), the shock pad is between the second cylinder (303) and the fourth cylinder (305), the fifth cylinder (307) is installed on the outer side wall of the rack (100), the sixth cylinder (308) is installed on the moving end of the fifth cylinder (307), and the fourth cylinder (305) is installed on the moving end of the sixth cylinder (308).
5. The left and right handle assembly line equipment for a front door of an automobile according to claim 1, wherein The spring assembly device (500) comprises a second linear module (501), a guide frame (502), an eighth cylinder (503), a ninth cylinder (504), a tenth cylinder (505), an eleventh cylinder (506), a second clamp (507), a twelfth cylinder (508), a thirteenth cylinder (509), a fourteenth cylinder (511), a fifteenth cylinder (512), a second vibration disc (514), a third vibration disc (515), a fourth vibration disc (516), a seventeenth cylinder (517), an eighteenth cylinder (518) and a fixed seat (519), the second linear module (501), the fourteenth cylinder (511), the fifteenth cylinder (512), the second vibration disc (514), the third vibration disc (515) and the fourth vibration disc (516) are all installed on the outer side wall of the rack (100), the guide frame (502), the eighth cylinder (503) and the ninth cylinder (504) are all installed on the moving end of the guide frame (502), the tenth cylinder (505), the eleventh cylinder (506) and the second clamp (507) are respectively installed on the moving end of the eighth cylinder (503) and the ninth cylinder (504), and the twelfth cylinder (508), the seventeenth cylinder (517), the eighteenth cylinder (518) and the fixed seat (519) are respectively installed on the outer side wall of the fifteenth cylinder (512).
6. The left and right handle assembly line equipment for a front door of an automobile according to claim 1, wherein The taking-out device (600) comprises a third linear module (601), a support (602), a motor (603), a third clamp (604) and a nineteenth cylinder (605), the third linear module (601) is installed inside the rack (100), the support (602) is installed on the outer side wall of the third linear module (601), and the motor (603), the third clamp (604) and the nineteenth cylinder (605) are respectively installed on the support (602).