Film tearing and labeling machine

Abstract

The utility model discloses a film tearing and labeling machine which comprises a turntable assembly, a film tearing mechanism, a feeding mechanism, a discharging mechanism, a labeling mechanism, a feeding conveying line and a discharging conveying line which are arranged on a platform, a first camera is mounted on the platform corresponding to the position below the feeding mechanism, and a lens of the first camera faces upwards; a second camera is mounted on the film tearing mechanism, and a lens of the second camera faces downwards; a third camera is mounted on the labeling mechanism, and a lens of the third camera faces downwards; a fourth camera is mounted on the platform corresponding to the position below the labeling mechanism, and a lens of the fourth camera faces upwards. And the action precision during feeding, film tearing and labeling is improved through the four cameras, and it is guaranteed that the labeling precision of the equipment is high.

Description

Technical Field

[0001] This utility model relates to the field of labeling machines, specifically to a film-peeling labeling machine. Background Technology

[0002] As electronic products such as mobile phones and tablets become smaller and thinner, their logos and labels also become more sophisticated. This places higher demands on the accuracy and efficiency of label application. The existing labeling equipment requires removing the protective film from the product where the label will be applied, and then attaching the label to the removed area. The product needs to move between several stations, including loading, unloading, film removal, and labeling. Current labeling equipment has an unreasonable structural design, low labeling accuracy, and typically uses conveyor lines to transport products to each station, resulting in a less compact structure and larger space requirements. Therefore, improvements are necessary. Utility Model Content

[0003] To address the shortcomings of existing technologies, this utility model provides a film-peeling labeling machine, which mainly solves the problems of low labeling accuracy and large space occupation of existing equipment.

[0004] To achieve the above objectives, this utility model is implemented through the following technical solution:

[0005] A film-peeling and labeling machine includes a turntable assembly mounted on a platform, a film-peeling mechanism, a feeding mechanism, a discharging mechanism, a labeling mechanism, a feeding conveyor line, and a discharging conveyor line;

[0006] The turntable assembly includes a turntable and a drive mechanism installed below the turntable to drive the turntable to rotate. The turntable is provided with a first station, a second station, a third station, and a fourth station, and each station is provided with a set of positioning fixtures. When the turntable rotates, each set of positioning fixtures flows sequentially from the first station to the second station, the third station, and the fourth station.

[0007] The feeding mechanism is used to move the products on the feeding conveyor line to the first station, the film-removing mechanism removes the film from the products on the second station, the labeling mechanism is used to label the products on the third station, and the unloading mechanism is used to move the products on the fourth station to the unloading conveyor line.

[0008] A first camera is installed on the platform below the feeding mechanism, with its lens facing upwards; a second camera is installed on the film-peeling mechanism, with its lens facing downwards; a third camera is installed on the labeling mechanism, with its lens facing downwards; and a fourth camera is installed on the platform below the labeling mechanism, with its lens facing upwards.

[0009] Preferably, the feeding conveyor line is arranged along the Y-axis and located below the feeding mechanism. A first hopper and a second hopper are respectively installed on both sides of the front end of the feeding conveyor line. The first hopper is used to stack boxes filled with products, and the second hopper is used to stack empty boxes. The feeding conveyor line is used to transport the boxes back and forth.

[0010] Preferably, the feeding mechanism includes a first support, a material box moving mechanism is installed on the front side of the first support, and a product moving mechanism is installed on the rear side of the first support. The material box moving mechanism is used to move the material box in the first hopper to the feeding conveyor line and to move the empty material box on the feeding conveyor line to the second hopper. The product moving mechanism is used to move the product in the material box conveyed to the rear end of the feeding conveyor line to the positioning fixture of the first station of the turntable.

[0011] Preferably, the material box moving mechanism includes a first X-axis linear module, a first Z-axis linear module, a first cylinder, and a feeding gripper. The first X-axis linear module is mounted on the front side of the first bracket, the first Z-axis linear module is mounted on the first X-axis linear module, the first cylinder is mounted on the first Z-axis linear module, and the feeding gripper is mounted on the first cylinder. The first X-axis linear module and the first Z-axis linear module are used to drive the feeding gripper to move left and right and up and down, respectively. The feeding gripper includes a first gripper and a second gripper. The first cylinder is used to drive the first gripper and the second gripper to move closer to or further away from each other in the left and right direction.

[0012] Preferably, the product moving mechanism includes a second X-axis linear module, a first Y-axis linear module, a second cylinder, and a set of suction cups. The second X-axis linear module is mounted on the rear side of the first bracket, the first Y-axis linear module is mounted on the second X-axis linear module, the second cylinder is mounted on the first Y-axis linear module, and the suction cups are mounted on the second cylinder. The second X-axis linear module, the second Y-axis linear module, and the second cylinder are used to drive the second cylinder to move left and right, forward and backward, and up and down, respectively.

[0013] Preferably, the film-tearing mechanism includes a second bracket, a second Y-axis linear module mounted on the second bracket, a third X-axis linear module mounted on the second Y-axis linear module, and a second Z-axis linear module mounted on the third X-axis linear module. A set of fixed clamping blocks, a set of third cylinders, and a second camera are mounted on the second Z-axis linear module. Each third cylinder is equipped with a movable clamping block, and the third cylinder is used to drive the movable clamping block to move up and down. Each fixed clamping block is located directly below a movable clamping block.

[0014] Preferably, the labeling mechanism includes a third bracket, a fourth X-axis linear module mounted on the third bracket, a third Y-axis linear module mounted on the fourth X-axis linear module, and a third Z-axis linear module mounted on the third Y-axis linear module. A set of suction cups and the third camera are mounted on the third Z-axis linear module.

[0015] Preferably, a reel for holding the label roll and a roller driven by a motor for winding the bottom film of the label roll are installed next to the labeling mechanism.

[0016] Preferably, the unloading mechanism includes a fourth bracket, a fifth X-axis linear module mounted on the fourth bracket, a fourth Y-axis linear module mounted on the fifth X-axis linear module, and a fourth Z-axis linear module mounted on the fourth Y-axis linear module. The fourth Z-axis linear module is equipped with a motor, a mounting block, a set of fourth cylinders, and a set of suction cups. Each fourth cylinder is connected to a suction cup, and each fourth cylinder is fixedly connected to the mounting block. The mounting block is connected to the output shaft of the motor, and the axial direction of the output shaft of the motor is set along the Z-axis. The motor is used to drive each fourth cylinder to rotate around the Z-axis, and each fourth cylinder is used to drive the suction cup connected to it to move up and down.

[0017] This utility model has the following beneficial effects:

[0018] 1. This equipment has a first camera installed below the corresponding feeding mechanism. The lens of the first camera faces upward. The feeding mechanism moves the product with the label to be peeled off to the first camera for positioning before placing it into the first station, so that the product is placed in place on the positioning fixture and the positional accuracy of the product on the positioning fixture is guaranteed.

[0019] The film-removing mechanism is equipped with a second camera with its lens facing downwards. The film-removing mechanism uses the second camera to position the product to be peeled, obtaining the precise position of the film on the product, which is beneficial for completely peeling off the film and avoiding damage or residue to the film.

[0020] The labeling mechanism is equipped with a third camera with its lens facing downwards. The labeling mechanism uses the third camera to locate the label to be acquired, thereby accurately peeling the label off the label backing film.

[0021] A fourth camera is installed below the labeling mechanism on the platform, with the lens of the fourth camera facing upwards. The labeling mechanism moves the obtained label to the fourth camera for positioning, and then affixes it to the product.

[0022] Four cameras increase the precision of actions during feeding, film removal, label acquisition, and labeling, ensuring high labeling accuracy of the equipment.

[0023] 2. Using a turntable to allow products to flow between different mechanisms saves product flow space and time, and is conducive to equipment miniaturization.

[0024] 3. The feeding and unloading conveyor lines are each equipped with a hopper for storing material boxes, which helps to reduce the frequent handling of material boxes by manual labor and reduce manual operations.

[0025] 4. The material box moving mechanism and the product moving mechanism are integrated together, which is conducive to the miniaturization of the equipment. Furthermore, the movement of the material box and the movement of the product operate independently, which helps to improve work efficiency. Attached Figure Description

[0026] Figure 1 This is a top view of the film-peeling and labeling machine according to an embodiment of this utility model;

[0027] Figure 2 yes Figure 1 A 3D view of a film-peeling and labeling machine;

[0028] Figure 3 This is one of the three-dimensional schematic diagrams of the feeding mechanism;

[0029] Figure 4 This is the second three-dimensional schematic diagram of the feeding mechanism;

[0030] Figure 5 Here is a 3D diagram of the film-tearing mechanism:

[0031] Figure 6 Here is a 3D view of the labeling facility:

[0032] Figure 7 This is a 3D view of the feeding mechanism. Detailed Implementation

[0033] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0034] In the description of this utility model, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "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 utility model 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 utility model.

[0035] like Figures 1 to 7As shown, this embodiment discloses a film-peeling and labeling machine, including a turntable assembly 1, a film-peeling mechanism 3, a feeding mechanism 2, a discharging mechanism 5, a labeling mechanism 4, a feeding conveyor line 6, and a discharging conveyor line 7 mounted on a platform. The turntable assembly 1 includes a turntable 11 and a drive mechanism mounted below the turntable 11 to drive the turntable 11 to rotate. The turntable 11 is provided with a first station 12, a second station 13, a third station 14, and a fourth station 15, and each station is provided with a set of positioning fixtures 16. When the turntable 11 rotates, each set of positioning fixtures 16 flows sequentially from the first station 12, the second station 13, the third station 14, and the fourth station 15. The drive mechanism can be a rotary cylinder or a motor. Using a turntable to realize the flow of products between the various mechanisms saves product flow space and is conducive to equipment miniaturization.

[0036] The feeding conveyor line 6 is used for reciprocating transport of material boxes 100. A first hopper 8 and a second hopper 9 are installed on both sides of the front end of the feeding conveyor line 6. The first hopper 8 is used to store material boxes 100 filled with products (these products have film attached, which needs to be removed before labels are affixed). The second hopper 9 is used to store empty material boxes 100. The feeding end of the feeding conveyor line has two hoppers, which facilitates the storage of material boxes, reduces the need for frequent manual loading and unloading of material boxes, and helps reduce the frequency of manual operations.

[0037] The feeding mechanism 2 includes a first support 21, a material box moving mechanism is installed on the front side of the first support 21, and a product moving mechanism is installed on the rear side of the first support 21. The material box moving mechanism is used to move the material box 100 in the first hopper 8 to the feeding conveyor line 6 and to move the empty material box on the feeding conveyor line 6 to the second hopper 9. The product moving mechanism is used to move the product in the material box 100 conveyed to the rear end of the feeding conveyor line 6 to the positioning fixture 16 of the first station 12 of the turntable 11.

[0038] After the product moving mechanism places all the products in the material box 100 onto the positioning fixture 16, the feeding conveyor line 6 returns to the front end, transporting the empty material box 100 back. The material box moving mechanism then moves the empty material box 100 to the second hopper 9, and then places the material boxes 100 in the first hopper 8 onto the feeding conveyor line 6, and the cycle repeats. The integration of the material box moving mechanism and the product moving mechanism facilitates the miniaturization of the feeding mechanism. Furthermore, the independent operation of the material box movement and the product movement improves operational efficiency.

[0039] The turntable 11 rotates to move the product from the first station 12 to the second station 13. After the film-removing mechanism 3 removes the film from the product at the second station 13, the turntable 11 moves the product from the second station 13 to the third station 14. The labeling mechanism 4 affixes a label to the product at the third station 14. Then, the turntable 11 moves the product from the third station 14 to the fourth station 15. The unloading mechanism 5 moves the product from the fourth station 15 to the material box 100 on the unloading conveyor line 7 (the empty material box 100 can be placed at the front end of the unloading conveyor line 7 by a worker or an external robot). The unloading conveyor line 7 is set along the Y-axis. A third hopper 10 is provided behind the unloading conveyor line 7. The third hopper 10 is used to store the material box 100 containing the labeled product (the material box 100 containing the product can be removed from the unloading conveyor line 7 and placed in the third hopper 10 by a worker or an external robot).

[0040] Specifically, the feeding conveyor line 6 is arranged along the Y-axis and located below the first support 21. For example... Figure 4 The material box moving mechanism includes a first X-axis linear module 22 (all linear modules described in this solution are existing technologies and have their own motors as drive sources), a first Z-axis linear module 23, a first cylinder 24, and a loading gripper 25. The first X-axis linear module 22 is mounted on the front side of the first bracket 21, the first Z-axis linear module 23 is mounted on the first X-axis linear module 22, the first cylinder 24 is mounted on the first Z-axis linear module 23, and the loading gripper 25 is mounted on the first cylinder 24. The first X-axis linear module 22 and the first Z-axis linear module 23 are used to drive the loading gripper 25 to move left and right and up and down, respectively. The loading gripper 25 includes a first gripper and a second gripper. The first cylinder 24 is used to drive the first gripper and the second gripper to move closer to or further away from each other in the left and right direction. The first and second grippers cooperate to clamp the material box 100, thereby moving the material box 100 in the first hopper 8 onto the feeding conveyor line 6, and moving the material box 100 above the feeding conveyor line 6 to the second hopper 9. In a specific structure, one gripper can be fixed, and the other gripper can be configured as a movable gripper driven by the first cylinder 24; alternatively, a first cylinder 24 with two slides can be used, with the first and second grippers respectively mounted on the two slides of the first cylinder 24.

[0041] like Figure 3The product moving mechanism includes a second X-axis linear module 25, a first Y-axis linear module 26, a second cylinder 27, and a set of suction cups 200. The second X-axis linear module 25 is mounted on the rear side of the first bracket 21, the first Y-axis linear module 26 is mounted on the second X-axis linear module 25, and the second cylinder 27 is mounted on the first Y-axis linear module 26. The second X-axis linear module 25 and the first Y-axis linear module 26 are used to drive the second cylinder 27 to move left and right and forward and backward, respectively. A set of suction cups 200 is mounted on the second cylinder 27, and the second cylinder 27 is used to drive the suction cups 200 to move up and down. The suction cups 200 are used to pick up the products in the material box 100 on the feeding conveyor line 6.

[0042] A first camera 28 is installed below the product moving mechanism on the platform. The lens of the first camera 28 faces upward. After the suction cup 200 of the product moving mechanism adsorbs the product, it moves to the first camera 28 for positioning, and then the product is placed on the positioning fixture 16 of the first station 12.

[0043] In specific structures, such as Figure 5 The film-tearing mechanism 3 includes a second bracket 31, a second Y-axis linear module 32 mounted on the second bracket 31, a third X-axis linear module 33 mounted on the second Y-axis linear module 32, and a second Z-axis linear module 34 mounted on the third X-axis linear module 33. The second Z-axis linear module 34 is equipped with a set of fixed clamping blocks 35, a set of third cylinders 38, and a second camera 36. The lens of the second camera 36 faces downward. Each third cylinder 38 is equipped with a movable clamping block 37. The third cylinder 38 is used to drive the movable clamping block 37 to move up and down. Each fixed clamping block 35 is located directly below a movable clamping block 37. Each movable clamping block 37 cooperates with a fixed clamping block 35 to clamp the film on the product to be peeled in the positioning fixture 16 of the second station 13. First, the second camera 36 acquires the position of the film on the product. Then, the third cylinder 38 drives the movable clamping block 37 to cooperate with the fixed clamping block 35 to clamp the film (a part of the film extends outside the product to facilitate clamping the film). After that, the second Z-axis linear module 34 drives the second cylinder 27 and the fixed clamping block 35 to move upward synchronously, thereby tearing the film off the product. Then, the turntable 11 rotates to move the product with the film removed from the second station 13 to the third station 14.

[0044] like Figure 1 and Figure 2 Next to the labeling mechanism 4 is a reel 17 for holding the label roll (the label is affixed to the base film, which is wound into a roll) and a roller 18 driven by a motor 55 for winding the base film of the label roll. The reel 17 and roller 18 work together to unfold the rolled label, thereby facilitating the labeling mechanism 4 to remove the label from the base film, which is prior art. In other embodiments, the label may also be in a flattened state and conveyed by a conveyor line.

[0045] In specific structures, such as Figure 6 The labeling mechanism 4 includes a third support 41, a fourth X-axis linear module 42 mounted on the third support 41, a third Y-axis linear module 43 mounted on the fourth X-axis linear module 42, and a third Z-axis linear module 44 mounted on the third Y-axis linear module 43. A set of suction cups 200 and a third camera 45 are mounted on the third Z-axis linear module 44, with the lens of the third camera 45 facing downwards. The fourth X-axis linear module 42, the third Y-axis linear module 43, and the third Z-axis linear module 44 are used to drive the suction cups 200 and the third camera 45 to move left and right, forward and backward, and up and down, respectively. The precise position of the label is first determined by the third camera 45, and then the suction cups 200 adsorb the label. A fourth camera 46 is mounted on the platform below the labeling mechanism 4, with the lens of the fourth camera 46 facing upwards. After the suction cups 200 of the labeling mechanism 4 adsorb the label, they move the label to a position above the fourth camera 46, and then affix the label to the product at the third workstation 14.

[0046] In specific structures, such as Figure 7 The unloading mechanism 5 includes a fourth bracket 51, a fifth X-axis linear module 52 mounted on the fourth bracket 51, a fourth Y-axis linear module 53 mounted on the fifth X-axis linear module 52, and a fourth Z-axis linear module 54 mounted on the fourth Y-axis linear module 53. The fourth Z-axis linear module 54 is equipped with a motor 55, a mounting block 56, a set of fourth cylinders 57, and a set of suction cups 200. Each fourth cylinder 57 is connected to a suction cup 200. Each fourth cylinder 57 is fixedly connected to the mounting block 56, which is connected to the output shaft of the motor 55. The output shaft of the motor 55 is axially aligned along the Z-axis. The motor 55 drives each fourth cylinder 57 to rotate around the Z-axis, and each fourth cylinder 57 drives the suction cups 200 connected to it to move up and down. The fifth X-axis linear module 52, the fourth Y-axis linear module 53, and the fourth Z-axis linear module 54 respectively drive the fourth cylinders to move left and right, forward and backward, and up and down. Each suction cup of the feeding mechanism is equipped with a fourth cylinder, and the lifting action of each suction cup is controlled independently, which increases flexibility, facilitates parameter adjustment, and allows for accurate identification of which fourth cylinder is faulty in case of failure, making replacement easier.

[0047] This equipment has a first camera installed below the corresponding feeding mechanism, with the lens facing upwards. The feeding mechanism moves the product with the label to be peeled to the first camera for positioning before placing it into the first station, ensuring the product is positioned accurately on the positioning fixture. A second camera is installed on the film-peeling mechanism, with the lens facing downwards. The film-peeling mechanism uses the second camera to position the product with the film to be peeled, obtaining the precise position of the film on the product, which is beneficial for complete film removal and avoids film damage or residue. A third camera is installed on the labeling mechanism, with the lens facing downwards. The labeling mechanism uses the third camera to position the label to be acquired, thereby accurately peeling the label from the label base film. A fourth camera is installed on the platform below the corresponding labeling mechanism, with the lens facing upwards. The labeling mechanism moves the acquired label to the fourth camera for positioning before affixing it to the product. The four cameras increase the precision of the actions during feeding, film peeling, label acquisition, and labeling, ensuring high labeling accuracy of the equipment.

[0048] The above-described embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. These modifications or substitutions do not cause the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model. Therefore, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

Claims

1. A film-peeling and labeling machine, characterized in that, This includes a turntable assembly, a film-tearing mechanism, a feeding mechanism, a discharging mechanism, a labeling mechanism, a feeding conveyor line, and a discharging conveyor line installed on the platform; The turntable assembly includes a turntable and a drive mechanism installed below the turntable to drive the turntable to rotate. The turntable is provided with a first station, a second station, a third station, and a fourth station, and each station is provided with a set of positioning fixtures. When the turntable rotates, each set of positioning fixtures flows sequentially from the first station to the second station, the third station, and the fourth station. The feeding mechanism is used to move the products on the feeding conveyor line to the first station, the film-removing mechanism removes the film from the products on the second station, the labeling mechanism is used to label the products on the third station, and the unloading mechanism is used to move the products on the fourth station to the unloading conveyor line. A first camera is installed on the platform below the feeding mechanism, with its lens facing upwards; a second camera is installed on the film-peeling mechanism, with its lens facing downwards; a third camera is installed on the labeling mechanism, with its lens facing downwards; and a fourth camera is installed on the platform below the labeling mechanism, with its lens facing upwards.

2. The film-peeling and labeling machine according to claim 1, characterized in that, The feeding conveyor line is set along the Y-axis and located below the feeding mechanism. The first hopper and the second hopper are installed on both sides of the front end of the feeding conveyor line, respectively. The first hopper is used to stack boxes filled with products, and the second hopper is used to stack empty boxes. The feeding conveyor line is used to transport the boxes back and forth.

3. The film-peeling and labeling machine according to claim 2, characterized in that, The feeding mechanism includes a first support, a material box moving mechanism installed on the front side of the first support, and a product moving mechanism installed on the rear side of the first support. The material box moving mechanism is used to move the material boxes in the first hopper to the feeding conveyor line and to move the empty material boxes on the feeding conveyor line to the second hopper. The product moving mechanism is used to move the products in the material boxes conveyed to the rear end of the feeding conveyor line to the positioning fixture of the first station of the turntable.

4. The film-peeling and labeling machine according to claim 3, characterized in that, The material box moving mechanism includes a first X-axis linear module, a first Z-axis linear module, a first cylinder, and a loading gripper. The first X-axis linear module is mounted on the front side of the first bracket, the first Z-axis linear module is mounted on the first X-axis linear module, the first cylinder is mounted on the first Z-axis linear module, and the loading gripper is mounted on the first cylinder. The first X-axis linear module and the first Z-axis linear module are used to drive the loading gripper to move left and right and up and down, respectively. The loading gripper includes a first gripper and a second gripper. The first cylinder is used to drive the first gripper and the second gripper to move closer to or further away from each other in the left and right direction.

5. The film-peeling and labeling machine according to claim 4, characterized in that, The product moving mechanism includes a second X-axis linear module, a first Y-axis linear module, a second cylinder, and a set of suction cups. The second X-axis linear module is mounted on the rear side of the first bracket, the first Y-axis linear module is mounted on the second X-axis linear module, the second cylinder is mounted on the first Y-axis linear module, and the suction cups are mounted on the second cylinder. The second X-axis linear module, the second Y-axis linear module, and the second cylinder are used to drive the second cylinder to move left and right, forward and backward, and up and down, respectively.

6. The film-peeling and labeling machine according to claim 1, characterized in that, The film-tearing mechanism includes a second bracket, a second Y-axis linear module mounted on the second bracket, a third X-axis linear module mounted on the second Y-axis linear module, and a second Z-axis linear module mounted on the third X-axis linear module. A set of fixed clamping blocks, a set of third cylinders, and a second camera are mounted on the second Z-axis linear module. Each third cylinder is equipped with a movable clamping block, and the third cylinder is used to drive the movable clamping block to move up and down. Each fixed clamping block is located directly below a movable clamping block.

7. The film-peeling and labeling machine according to claim 1, characterized in that, The labeling mechanism includes a third bracket, a fourth X-axis linear module mounted on the third bracket, a third Y-axis linear module mounted on the fourth X-axis linear module, and a third Z-axis linear module mounted on the third Y-axis linear module. A set of suction cups and the third camera are mounted on the third Z-axis linear module.

8. The film-peeling and labeling machine according to claim 1, characterized in that, Next to the labeling mechanism are a reel for holding the label rolls and a motor-driven roller for winding up the bottom film of the label rolls.

9. The film-peeling and labeling machine according to claim 1, characterized in that, The unloading mechanism includes a fourth bracket, a fifth X-axis linear module mounted on the fourth bracket, a fourth Y-axis linear module mounted on the fifth X-axis linear module, and a fourth Z-axis linear module mounted on the fourth Y-axis linear module. The fourth Z-axis linear module is equipped with a motor, a mounting block, a set of fourth cylinders, and a set of suction cups. Each fourth cylinder is connected to a suction cup, and each fourth cylinder is fixedly connected to the mounting block. The mounting block is connected to the output shaft of the motor, and the axial direction of the motor's output shaft is set along the Z-axis. The motor is used to drive each fourth cylinder to rotate around the Z-axis, and each fourth cylinder is used to drive the suction cup connected to it to move up and down.

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