External inspection machine for thread machine

Abstract

The utility model provides an external detection machine for a yarn lathe, and belongs to the technical field of yarn spindle detection equipment. The device comprises a vertical frame, at least one hooking mechanism is arranged in the vertical frame in the vertical direction, the hooking mechanism comprises a lifting seat connected with the vertical frame through a lifting assembly, a ram driven by a translation assembly is arranged on the lifting seat, and vertical sliding grooves are symmetrically formed in the two sides of the vertical frame. A plurality of hooking mechanisms can be simultaneously arranged in the vertical frame, so that a plurality of silk spindles can be simultaneously hooked to the vertical frame for detection at one time, the silk spindle transfer efficiency is high, and when the silk spindles are hooked, a ram is firstly driven by a translation mechanism to translate into a paper tube in the center of the silk spindles; the lifting base and the ram are driven by the lifting assembly to move upwards to pick up the silk ingot, and finally the ram is driven by the translation assembly to translate inwards to a detection station.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of silk spool detection equipment, and relates to a silk car external detection machine. BACKGROUND

[0002] The flaws existing on the chemical fiber silk spool not only affect the appearance of the silk spool, but also affect the grade of the silk spool, and even the phenomenon of broken silk may occur, affecting the downstream production link. The silk spool needs to be clamped to the detection station during detection, but the detection equipment in the prior art can only clamp one silk spool for detection at a time.

[0003] For example, a chemical fiber silk spool rotating detection mechanism is disclosed in Chinese Patent [Application No. 201820691027.3], which comprises a lifting main seat, a first cross beam and a second cross beam. A module profile is arranged on the lifting main seat along the vertical direction. A module mounting plate is fixed to the side of the module profile away from the lifting main seat. A shaft coupling seat is arranged on the side of the module mounting plate away from the module profile. A servo motor is arranged on the upper end of the shaft coupling seat. A shaft coupling is arranged in the shaft coupling seat. The movable end of the servo motor is fixedly connected to the upper end of the shaft coupling after penetrating through the shaft coupling seat. A three-grip air cylinder is connected to the lower end of the shaft coupling. Three movable clamping jaws are arranged on the three-grip air cylinder. One grip disc is fixedly arranged on each movable clamping jaw. CONTENT OF THE UTILITY MODEL

[0004] The utility model aims at the above problems and provides a silk car external detection machine.

[0005] To achieve the above-mentioned purpose, the utility model adopts the following technical scheme:

[0006] A silk car external detection machine comprises a vertical frame. At least one hooking mechanism is arranged in the vertical frame along the vertical direction. The hooking mechanism comprises a lifting seat connected to the vertical frame through a lifting assembly. A picking lever driven by a translation assembly is arranged on the lifting seat. Vertical sliding grooves are symmetrically arranged on both sides of the vertical frame. The picking lever is horizontally arranged in the vertical sliding groove and can be driven by the translation assembly to slide into or out of the vertical sliding groove.

[0007] In the above-mentioned silk car external detection machine, the translation assembly comprises a moving rack slidingly arranged on the top of the lifting seat. The moving rack is arranged in the vertical sliding groove. The picking lever is horizontally fixed on the moving rack. A No. 1 rotary driver is further fixedly connected to the lifting seat. The output shaft end of the No. 1 rotary driver is fixedly connected to a fixed gear meshing with the moving rack.

[0008] In the above-described silk car external inspection machine, the lifting assembly comprises a fixed seat arranged on the lower side of the lifting seat, the bottom of the fixed seat is fixedly connected with a lifting driver, the output shaft end of the lifting driver vertically penetrates the fixed seat and is connected with the lifting seat; a plurality of limiting sleeves are further arranged on the fixed seat, and a limiting rod is fixedly connected into the limiting sleeve and arranged on the bottom of the lifting seat.

[0009] In the above-described silk car external inspection machine, a plurality of silk spool rotating assemblies corresponding to the hooking mechanism are further arranged on the vertical frame, a rotating driving assembly is further arranged on the side of the vertical frame away from the picking rod and is power-connected with the plurality of silk spool rotating assemblies, and a visual detection mechanism is further arranged on the vertical frame.

[0010] In the above-described silk car external inspection machine, the silk spool rotating assembly comprises two driving rods arranged in parallel, the two driving rods are symmetrically arranged on both sides of the picking rod, the driving rods are rotationally arranged on the side wall of the vertical frame close to the picking rod, two transmission rods are further rotationally connected in the vertical frame, one belt pulley is fixedly connected to the end of the transmission rod close to the picking rod, a second belt pulley is fixedly connected to the inner end of the driving rod, and the one belt pulley and the second belt pulley are power-connected through a belt.

[0011] In the above-described silk car external inspection machine, the rotating driving assembly comprises a driving chain arranged on the side of the vertical frame away from the picking rod, a plurality of sprockets are rotationally connected to the side wall of the vertical frame away from the picking rod, the driving chain is arranged around the sprockets, a second rotating driver is fixedly connected to the vertical frame, a driving gear meshing with the driving chain is fixedly connected to the output shaft end of the second rotating driver, and a transmission gear meshing with the driving chain is fixedly connected to the end of the transmission rod away from the first belt pulley.

[0012] In the above-described silk car external inspection machine, the visual detection mechanism comprises a visual detection assembly and a light source assembly.

[0013] In the above-described silk car external inspection machine, the visual detection assembly comprises a first oil stain detection camera, a second oil stain detection camera and a hairiness detection camera, the first oil stain detection camera is arranged obliquely above the silk spool rotating assembly and the visual detection direction of the first oil stain detection camera is obliquely downward toward the silk spool rotating assembly, the first oil stain detection camera is arranged on the side of the silk spool rotating assembly away from the vertical frame, the second oil stain detection camera is horizontally arranged on the side of the vertical frame and the visual detection direction of the second oil stain detection camera is horizontally toward the silk spool rotating assembly, and the hairiness detection camera is arranged above the second oil stain detection camera and the visual detection direction of the hairiness detection camera is horizontally toward the silk spool rotating assembly.

[0014] In the aforementioned external inspection machine for yarn spinning machines, the light source assembly includes a single-sided strobe light strip, a double-sided strobe light strip, a 60-degree arc light source, and a 120-degree arc light source. The single-sided strobe light strip is located below the spinning spindle rotating assembly and on the side of the spinning spindle rotating assembly closer to the vertical frame. The double-sided strobe light strip is located between the two spinning spindle rotating assemblies and on the side of the spinning spindle rotating assembly closer to the vertical frame. The 60-degree arc light source is located diagonally above the spinning spindle rotating assembly and on the side of the spinning spindle rotating assembly closer to the vertical frame. The 60-degree arc light source and the first oil stain detection camera are located on the same side. The 120-degree arc light source is located on the side of the vertical frame. The second oil stain detection camera and the lint detection camera are located inside the 120-degree arc light source.

[0015] The aforementioned external inspection machine for silk reeling also includes a frame. The vertical frame is slidably mounted on the frame. A self-propelled mechanism is provided between the vertical frame and the frame. The self-propelled mechanism includes a fixed rack horizontally mounted on the top of the frame. A third rotary driver is fixedly connected to the vertical frame. The output shaft end of the third rotary driver vertically penetrates the vertical frame, and a self-propelled gear that meshes with the fixed rack is fixedly connected to the output shaft end of the third rotary driver.

[0016] Compared with existing technologies, the advantages of this utility model are:

[0017] 1. Multiple hooking mechanisms can be set up simultaneously within the vertical frame, enabling multiple filament spindles to be hooked to the vertical frame for inspection at the same time. The filament spindle transfer efficiency is high. When hooking the filament spindle, the lifting rod is first driven by the translation mechanism to move horizontally into the paper tube in the center of the filament spindle. Then, the lifting assembly drives the lifting seat and the lifting rod to move upward to lift the filament spindle. Finally, the translation assembly drives the lifting rod to move inward to the inspection station.

[0018] Other advantages, objectives and features of this invention will be partly apparent from the following description, and partly understood by those skilled in the art through study and practice of this invention. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of this utility model during operation;

[0020] Figure 2 This is a schematic diagram of the overall structure of this utility model;

[0021] Figure 3 It is a sectional view of the vertical frame;

[0022] Figure 4 It is a 3D view of the vertical frame;

[0023] Figure 5 It is a 3D view of the vertical frame from another direction;

[0024] Figure 6 It is the local structure schematic diagram of the utility model.

[0025] In the drawing, vertical frame 1, hook mechanism 2, lifting assembly 3, lifting seat 4, translation assembly 5, pick rod 6, vertical sliding slot 7, moving rack 8, first rotary driver 9, fixed gear 10, fixed seat 11, lifting driver 12, limit sliding sleeve 13, limit rod 14, silk reeling rotary assembly 15, rotary drive assembly 16, visual detection mechanism 17, drive rod 18, transmission rod 19, first belt pulley 20, second belt pulley 21, belt 22, drive chain 23, sprocket 24, drive gear 25, transmission gear 26, first oil stain detection camera 27, second oil stain detection camera 28, lint detection camera 29, single-sided strobe light bar 30, double-sided strobe light bar 31, 60-degree arc light source 32, 120-degree arc light source 33, rack 34, self-walking mechanism 35, fixed rack 36, third rotary driver 37, self-walking gear 38. DETAILED DESCRIPTION

[0026] As Figures 1-6 shown, a silk reeling machine external detection machine, including vertical frame 1, the vertical frame 1 is provided with at least one hook mechanism 2 in the vertical direction, the hook mechanism 2 includes lifting seat 4 connected with vertical frame 1 through lifting assembly 3, the lifting seat 4 is provided with pick rod 6 driven by translation assembly 5, the vertical frame 1 is provided with vertical sliding slot 7 symmetrically on both sides, the pick rod 6 is horizontally arranged in the vertical sliding slot 7 and can be driven by translation assembly 5 to slide into or out of the vertical sliding slot 7.

[0027] In the utility model, multiple hook mechanisms can be arranged in the vertical frame at the same time so that multiple silk reels can be hooked at the same time to the vertical frame for detection, and the silk reel transfer efficiency is high, when the silk reel is hooked, first, the pick rod is driven by the translation mechanism to move horizontally to the paper tube in the center of the silk reel, then the lifting seat and the pick rod are driven upward by the lifting assembly to lift the silk reel, finally, the pick rod is driven by the translation assembly to move horizontally to the detection station.

[0028] Specifically, the translation assembly 5 includes a moving rack 8 slidingly arranged on the top of the lifting seat 4, the moving rack 8 is arranged in the vertical sliding slot 7, the pick rod 6 is horizontally fixed on the moving rack 8, the lifting seat 4 is further fixedly connected with a first rotary driver 9, and the output shaft end of the first rotary driver 9 is fixedly connected with a fixed gear 10 engaged with the moving rack 8. The first rotary driver can drive the fixed gear to rotate, and the rotation of the fixed gear can drive the moving rack to reciprocate on the lifting seat, so as to drive the pick rod to move horizontally.

[0029] The skilled in the art should understand that the rotating driver can be a rotating oil cylinder or a motor.

[0030] Specifically, the lifting assembly 3 comprises a fixing base 11 arranged at the lower side of the lifting base 4, the bottom of the fixing base 11 is fixedly connected with a lifting driver 12, the output shaft end of the lifting driver 12 vertically penetrates the fixing base 11 and is connected with the lifting base 4; the fixing base 11 is further provided with a plurality of limiting sliding sleeves 13, and the bottom of the lifting base 4 is fixedly connected with a limiting rod 14 inserted into the limiting sliding sleeves 13. The lifting driver can drive the lifting base to lift along the vertical direction, and the lifting of the lifting base can drive the lifting of the lifting rod along the vertical direction.

[0031] The skilled in the art should understand that the lifting driver can be an oil cylinder, an air cylinder or a linear motor.

[0032] Specifically, the vertical frame 1 is further provided with a plurality of silk spool rotating assemblies 15 corresponding to the hooking mechanism 2, the side of the vertical frame 1 away from the lifting rod 6 is further provided with a rotating driving assembly 16 in power connection with the plurality of silk spool rotating assemblies 15, and the vertical frame 1 is further provided with a visual detection mechanism 17. The rotating driving assembly 16 can simultaneously provide power for the plurality of silk spool rotating assemblies so as to enable the silk spool rotating assemblies at the silk spool detection stations to synchronously act, the action of the silk spool rotating assemblies can drive the silk spool to rotate so that the silk spool can be subjected to rotation detection, and the visual detection mechanism can visually detect the silk spool at the silk spool rotating assembly.

[0033] Specifically, the silk spindle rotating assembly 15 comprises two driving rods 18 arranged in parallel and symmetrically on both sides of the picking rod 6, the driving rods 18 are rotatably arranged on the side wall of the vertical frame 1 near the picking rod 6, two transmission rods 19 are also rotatably connected in the vertical frame 1, one end of the transmission rod 19 near the picking rod 6 is fixedly connected with a first belt pulley 20, the inner end of the driving rod 18 is fixedly connected with a second belt pulley 21, the first belt pulley 20 and the second belt pulley 21 are power-connected through a belt 22, the rotating driving assembly 16 comprises a driving chain 23 arranged on the side of the vertical frame 1 away from the picking rod 6, a plurality of sprockets 24 are rotatably connected on the side wall of the vertical frame 1 away from the picking rod 6, the driving chain 23 is arranged around the sprockets 24, a second rotating driver is fixedly connected on the vertical frame 1, the output shaft end of the second rotating driver is fixedly connected with a driving gear 25 engaged with the driving chain 23, the end of the transmission rod 19 away from the first belt pulley 20 is fixedly connected with a transmission gear 26 engaged with the driving chain 23. The second rotating driver can drive the driving gear to rotate, the driving gear can drive the driving chain to rotate, the driving chain can drive the transmission gear to rotate, the transmission gear can drive the transmission rod to rotate, the transmission rod can drive the first belt pulley and the second belt pulley to rotate through the belt, the second belt pulley can drive the driving rod to rotate, and the two driving rods can drive the silk spindle to rotate.

[0034] Those skilled in the art should understand that the second rotating driver can be a rotary oil cylinder or a motor.

[0035] Specifically, the visual detection mechanism 17 comprises a visual detection assembly and a light source assembly. The visual detection assembly can take photos of the surface of the silk spindle, so that the appearance of the silk spindle can be detected by the analysis equipment in the background, and the light source assembly can provide illumination for the photos of the surface of the silk spindle.

[0036] Specifically, the visual detection assembly comprises a first oil stain detection camera 27, a second oil stain detection camera 28 and a fluff detection camera 29. The first oil stain detection camera 27 is arranged obliquely above the yarn spindle rotating assembly 15 and the visual detection direction of the first oil stain detection camera 27 is obliquely downward towards the yarn spindle rotating assembly 15. The first oil stain detection camera 27 is arranged on the side of the yarn spindle rotating assembly 15 away from the vertical frame 1. The second oil stain detection camera 28 is horizontally arranged on the side of the vertical frame 1 and the visual detection direction of the second oil stain detection camera 28 is horizontally towards the yarn spindle rotating assembly 15. The fluff detection camera 29 is arranged above the second oil stain detection camera 28 and the visual detection direction of the fluff detection camera 29 is horizontally towards the yarn spindle rotating assembly 15. The first oil stain detection camera 27 and the second oil stain detection camera 28 can take photos of the surface of the yarn spindle from different directions to detect oil stain defects on the surface of the yarn spindle. The fluff detection camera can take photos of the surface of the yarn spindle from the horizontal direction to detect fluff defects on the surface of the yarn spindle.

[0037] Specifically, the light source assembly comprises a single-sided flash light bar 30, a double-sided flash light bar 31, a 60-degree arc-shaped light source 32 and a 120-degree arc-shaped light source 33. The single-sided flash light bar 30 is arranged on the lower side of the yarn spindle rotating assembly 15 and located on the side of the yarn spindle rotating assembly 15 close to the vertical frame 1. The double-sided flash light bar 31 is arranged between the two yarn spindle rotating assemblies 15 and located on the side of the yarn spindle rotating assembly 15 close to the vertical frame 1. The 60-degree arc-shaped light source 32 is arranged obliquely above the yarn spindle rotating assembly 15 and located on the side of the yarn spindle rotating assembly 15 close to the vertical frame 1. The 60-degree arc-shaped light source 32 and the first oil stain detection camera 27 are located on the same side. The 120-degree arc-shaped light source 33 is arranged on the side of the vertical frame 1. The second oil stain detection camera 28 and the fluff detection camera 29 are located inside the 120-degree arc-shaped light source 33. The single-sided flash light bar 30 can flash illuminate the yarn spindle from bottom to top. The double-sided flash light bar 31 can flash illuminate the yarn spindles on the upper and lower sides at the same time. The 60-degree arc-shaped light source 32 can illuminate the inner side of the yarn spindle from the oblique upper side of the yarn spindle. The 120-degree arc-shaped light source can illuminate the inner side of the yarn spindle from the horizontal direction.

[0038] Specifically, the vertical frame 1 is slidably arranged on the rack 34, and a self-walking mechanism 35 is arranged between the vertical frame 1 and the rack 34, the self-walking mechanism 35 comprises a fixed rack 36 horizontally arranged on the top of the rack 34, a third rotary driver 37 is fixedly connected to the vertical frame 1, and the output shaft end of the third rotary driver 37 vertically penetrates the vertical frame 1 and is fixedly connected with a self-walking gear 38 engaged with the fixed rack 36. The third rotary driver 37 can drive the self-walking gear 38 to rotate, and the self-walking gear rotating in cooperation with the fixed rack can make the vertical frame translate along the length direction of the fixed rack.

[0039] Those skilled in the art should understand that the third rotary driver 37 can be a rotary oil cylinder or a motor.

[0040] The specific embodiments described herein are merely illustrative of the spirit of the present application. Those skilled in the art of the present application can make various modifications or supplements to the described specific embodiments or use similar ways to replace, but will not deviate from the spirit of the present application or exceed the scope defined by the appended claims.

[0041] Although the vertical frame 1, the hooking mechanism 2, the lifting assembly 3, the lifting seat 4, the translation assembly 5, the cantilever 6, the vertical sliding groove 7, the moving rack 8, the first rotary driver 9, the fixed gear 10, the fixed seat 11, the lifting driver 12, the limiting sleeve 13, the limiting rod 14, the silk spinning rotary assembly 15, the rotary driving assembly 16, the visual detection mechanism 17, the driving rod 18, the transmission rod 19, the first pulley 20, the second pulley 21, the belt 22, the driving chain 23, the sprocket 24, the driving gear 25, the transmission gear 26, the first oil stain detection camera 27, the second oil stain detection camera 28, the lint detection camera 29, the single-sided flash light bar 30, the double-sided flash light bar 31, the 60-degree arc-shaped light source 32, the 120-degree arc-shaped light source 33, the rack 34, the self-walking mechanism 35, the fixed rack 36, the third rotary driver 37, the self-walking gear 38, etc. are used more frequently in this paper, and these terms are used only to facilitate the description and explanation of the essence of the present application; any additional limitation is contrary to the spirit of the present application.

Claims

1. A silk car outer inspection machine comprising a vertical frame (1), characterized in that, The vertical frame (1) is provided with at least one hooking mechanism (2) in the vertical direction, the hooking mechanism (2) comprises a lifting seat (4) connected with the vertical frame (1) through a lifting assembly (3), the lifting seat (4) is provided with a lifting lever (6) driven by a translation assembly (5), the vertical frame (1) is provided with a vertical sliding groove (7) on both sides, and the lifting lever (6) is horizontally arranged in the vertical sliding groove (7) and can be driven by the translation assembly (5) to slide into or out of the vertical sliding groove (7).

2. The wire bar inspection machine of claim 1, wherein The translation assembly (5) comprises a moving rack (8) slidingly arranged on the top of the lifting seat (4), the moving rack (8) is arranged in the vertical sliding groove (7), the lifting lever (6) is horizontally fixed on the moving rack (8), and a first rotary driver (9) is further fixed on the lifting seat (4), and the output shaft end of the first rotary driver (9) is fixedly connected with a fixed gear (10) engaged with the moving rack (8).

3. The wire bar inspection machine of claim 1, wherein, The lifting assembly (3) comprises a fixed seat (11) arranged on the lower side of the lifting seat (4), the bottom of the fixed seat (11) is fixedly connected with a lifting driver (12), the output shaft end of the lifting driver (12) vertically penetrates the fixed seat (11) and is connected with the lifting seat (4); a plurality of limiting sliding sleeves (13) are further arranged on the fixed seat (11), and a limiting rod (14) is fixedly connected to the bottom of the lifting seat (4) and inserted into the limiting sliding sleeve (13).

4. The yarn car outer inspection machine according to any one of claims 1 to 3, characterized in that, A plurality of silk spindle rotating assemblies (15) corresponding to the hooking mechanism (2) are further arranged on the vertical frame (1), a rotating driving assembly (16) is further arranged on the side of the vertical frame (1) away from the lifting lever (6) and is power-connected with the plurality of silk spindle rotating assemblies (15), and a visual detection mechanism (17) is further arranged on the vertical frame (1).

5. The wire bar inspection machine of claim 4, wherein, The silk spindle rotating assembly (15) comprises two driving rods (18) arranged in parallel, the two driving rods (18) are symmetrically arranged on both sides of the lifting lever (6), the driving rod (18) is rotatably arranged on the side wall of the vertical frame (1) close to the lifting lever (6), two transmission rods (19) are further rotatably connected in the vertical frame (1), one belt pulley (20) is fixedly connected to one end of the transmission rod (19) close to the lifting lever (6), a second belt pulley (21) is fixedly connected to the inner end of the driving rod (18), and the first belt pulley (20) and the second belt pulley (21) are power-connected through a belt (22).

6. The wire bar inspection machine of claim 5, wherein, The rotating driving assembly (16) comprises a driving chain (23) arranged on the side of the vertical frame (1) away from the cantilever (6), a plurality of sprockets (24) are rotationally connected to the side wall of the side of the vertical frame (1) away from the cantilever (6), the driving chain (23) is arranged around the plurality of sprockets (24), a second rotating driver is fixedly connected to the vertical frame (1), a driving gear (25) engaged with the driving chain (23) is fixedly connected to the output shaft end of the second rotating driver, and a transmission gear (26) engaged with the driving chain (23) is fixedly connected to the end of the transmission rod (19) away from the first belt pulley (20).

7. The wire bar inspection machine of claim 4 wherein, The visual detection mechanism (17) comprises a visual detection assembly and a light source assembly.

8. The yarn car outer inspection machine of claim 7, wherein, The visual detection assembly comprises a first oil stain detection camera (27), a second oil stain detection camera (28) and a lint detection camera (29), the first oil stain detection camera (27) is arranged obliquely above the yarn spindle rotating assembly (15) and the visual detection direction of the first oil stain detection camera (27) is obliquely downward towards the yarn spindle rotating assembly (15), the first oil stain detection camera (27) is arranged on the side of the yarn spindle rotating assembly (15) away from the vertical frame (1), the second oil stain detection camera (28) is horizontally arranged on the side of the vertical frame (1) and the visual detection direction of the second oil stain detection camera (28) is horizontally towards the yarn spindle rotating assembly (15), and the lint detection camera (29) is arranged above the second oil stain detection camera (28) and the visual detection direction of the lint detection camera (29) is horizontally towards the yarn spindle rotating assembly (15).

9. The wire bar inspection machine of claim 8, wherein, The light source assembly comprises a single-sided flash light bar (30), a double-sided flash light bar (31), a 60-degree arc-shaped light source (32) and a 120-degree arc-shaped light source (33), the single-sided flash light bar (30) is arranged on the lower side of the yarn spindle rotating assembly (15) and located on the side of the yarn spindle rotating assembly (15) close to the vertical frame (1), the double-sided flash light bar (31) is arranged between the two yarn spindle rotating assemblies (15) and located on the side of the yarn spindle rotating assembly (15) close to the vertical frame (1), the 60-degree arc-shaped light source (32) is arranged obliquely above the yarn spindle rotating assembly (15) and located on the side of the yarn spindle rotating assembly (15) close to the vertical frame (1), the 60-degree arc-shaped light source (32) and the first oil stain detection camera (27) are located on the same side, and the 120-degree arc-shaped light source (33) is arranged on the side of the vertical frame (1), the second oil stain detection camera (28) and the lint detection camera (29) are located inside the 120-degree arc-shaped light source (33).

10. The yarn car outer inspection machine according to any one of claims 1-3, wherein, It also comprises a rack (34), the vertical frame (1) is slidingly arranged on the rack (34), a self-propelled mechanism (35) is arranged between the vertical frame (1) and the rack (34), the self-propelled mechanism (35) comprises a fixed rack (36) horizontally arranged on the top of the rack (34), a third rotary driver (37) is fixedly connected to the vertical frame (1), the output shaft end of the third rotary driver (37) vertically penetrates the vertical frame (1), and the output shaft end of the third rotary driver (37) is fixedly connected with a self-propelled gear (38) engaged with the fixed rack (36).

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