Automatic bar disassembling mechanical arm of reduction furnace

Abstract

The utility model belongs to the technical field of polycrystalline silicon reduction furnaces, and provides an automatic rod disassembling mechanical arm of a reduction furnace, which comprises a transferring unit, a rod disassembling unit, a rod disassembling unit and a rod disassembling unit, the adjusting unit is connected with the transferring unit and used for adjusting the spatial position of the grabbing unit; the grabbing unit is connected with the adjusting unit and is used for identifying the to-be-disassembled silicon rod in the vertical state so as to clamp and take down the to-be-disassembled silicon rod and then overturn the to-be-disassembled silicon rod to the horizontal state; wherein the transferring unit is provided with a movable base with telescopic supporting legs at four corners, and a supporting column is connected to the movable base and used for bearing the adjusting unit. And the movable base with the telescopic supporting legs at the four corners can replace a travelling crane to quickly move the mechanical arm to a furnace disassembling point position and support the mechanical arm, so that the moving convenience of the mechanical arm is greatly improved.

Description

Technical Field

[0001] This utility model relates to the field of polycrystalline silicon reduction furnace technology, specifically to an automatic rod-removing robotic arm for a reduction furnace. Background Technology

[0002] In the process of producing polycrystalline silicon rods in reduction furnaces, furnace dismantling is a crucial step. Because polycrystalline silicon rods are very heavy, the dismantling process is one of the most labor-intensive and time-consuming steps in furnace dismantling. Driven by the increasing demand for industrial automation, manufacturers both domestically and internationally are actively developing various automated rod dismantling devices to reduce manpower consumption and improve labor efficiency.

[0003] Currently, domestic polysilicon manufacturers all use robotic arms for disassembling silicon rods. However, existing robotic arms have the following problems in actual use:

[0004] 1. Due to its large size and heavy weight, it is inconvenient to move and requires manual operation of a crane to hoist the robotic arm to the furnace dismantling point.

[0005] 2. The automation level is low. Workers need to wear protective equipment to enter the high temperature, high dust and narrow furnace environment. After judging the status and position of the silicon rods based on experience, they manually operate the robotic arm to disassemble and move the silicon rods. This process is labor-intensive. Due to the harsh environment and human factors, errors are easy to occur, which may cause damage to the silicon rods or injury to personnel. It is difficult to guarantee the safety and reliability of furnace disassembly. Utility Model Content

[0006] To address the shortcomings of existing technologies, this utility model provides an automatic bar-removing robotic arm for reduction furnaces, which solves the problems of existing robotic arms being large and heavy, inconvenient to move, having low automation levels, and requiring manual assistance to complete bar removal.

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] An automatic bar-removing robotic arm for a reduction furnace includes:

[0009] The transfer unit is used to move the robotic arm and support it near the reduction furnace where the bar to be removed is located;

[0010] An adjustment unit, connected to the transfer unit, is used to adjust the spatial position of the gripping unit; and

[0011] The gripping unit, connected to the adjustment unit, is used to identify the silicon rod to be disassembled in a vertical state, clamp it, remove it, and then flip it to a horizontal state.

[0012] The transfer unit is equipped with a movable base with telescopic legs at the four corners, and a support column is connected to the movable base to support the adjustment unit.

[0013] In one embodiment disclosed in this application, the mobile base is an AGV (Automated Guided Vehicle) trolley;

[0014] The four telescopic outriggers described above are retracted into the vehicle body when the AGV is moving.

[0015] In one embodiment disclosed in this application, the adjustment unit includes the following components arranged sequentially:

[0016] A cantilever, which is vertically and rotatably connected to the top of the support column; and

[0017] The swing mechanism has one end rotatably connected to the cantilever and the other end connected to the gripping unit.

[0018] In one embodiment disclosed in this application, a vertically installed lifting platform is built into the top of the support column, and the output end of the lifting platform is connected to a first rotary joint;

[0019] The cantilever is provided with a first base, a cantilever body and a first hanging seat connected in sequence, and the first base is connected to the first rotary joint;

[0020] The swing mechanism includes a second base, a swing arm, and a second suspension seat that are hinged in sequence. The second base is connected to the lower part of the first suspension seat through a second rotary joint. The lower part of the second suspension seat is connected to the gripping unit through a third rotary joint. A telescopic cylinder is hinged between the lower part of the second base and the middle part of the swing arm.

[0021] In one embodiment disclosed in this application, the lower part of the first base is connected to the cantilever body, and a first tie rod is connected between the upper part of the first base and the first hanging seat;

[0022] The second base is hinged to the swing arm at its middle part, and a second tie rod is hinged between the upper part of the second base and the second hanger to form a parallelogram structure with the swing arm.

[0023] In one embodiment disclosed in this application, the first rotary joint, the second rotary joint, and the third rotary joint have the same structure and can all be locked by their own brake discs.

[0024] In one embodiment disclosed in this application, the grasping unit includes the following components arranged sequentially:

[0025] The hanger, the upper part of which is connected to the third rotary joint;

[0026] A flipping mechanism is hinged to the lower part of the hanger and can be flipped downwards by 90° around the hinge point; and

[0027] A clamping mechanism is connected to the flipping mechanism;

[0028] The upper part of the hanger is equipped with a binocular camera to identify the vertical silicon rod to be disassembled for clamping by the clamping mechanism.

[0029] In one embodiment disclosed in this application, the flipping mechanism includes a flipping frame, the lower part of which is hinged to the lower part of the hanger and a first telescopic rod is hinged between them to form a triangular structure with one side of variable length;

[0030] The clamping mechanism includes a pressure plate and multiple pairs of clamping plates arranged at equal intervals. When the flipping frame is vertical, the pressure plate is located above the clamping plates and is slidably connected to the flipping frame through the drive of the second telescopic rod. The two ends of the second telescopic rod are respectively hinged to the flipping frame and the pressure plate.

[0031] The clamps are arranged in two rows of equal number and staggered arrangement. Each pair of clamps is slidably connected to the flipping frame and moves closer or further away from each other by the drive of a linear slide table, which is mounted on the flipping frame.

[0032] In one embodiment disclosed in this application, the flipping mechanism further includes a telescopic push rod;

[0033] The telescopic push rod is fixedly installed in the upper part of the hanger, and its end is in contact with the tilting frame when it is vertical.

[0034] In one embodiment disclosed in this application, a pair of energy storage boxes symmetrically distributed on both sides of the support column are installed on the mobile base to provide energy for the operation of the telescopic outrigger, lifting platform, telescopic cylinder, first rotary joint, second rotary joint, third rotary joint, first telescopic rod, second telescopic rod, telescopic push rod and linear slide.

[0035] Compared with the prior art, the beneficial effects of this utility model are:

[0036] 1. The movable base with telescopic outriggers at the four corners can replace the overhead crane to quickly move the robotic arm to the furnace dismantling point and support it, greatly improving the convenience of moving the robotic arm.

[0037] 2. The AGV (Automated Guided Vehicle) enables the robotic arm to move autonomously and provide automatic support.

[0038] 3. The three rotary joints expand the coverage and operating space of the robotic arm, while also enabling self-locking and good stability.

[0039] 4. The shape and position of the silicon rod to be disassembled are scanned from all angles using a binocular camera, which further improves the automation level of this robotic arm.

[0040] 5. Through the combined action of multiple clamping plates and pressure plates, the entire clamping mechanism can securely hold the silicon rod to be removed in any position.

[0041] 6. When the tilting frame is vertical, the telescopic push rod abuts against the tilting frame, which can improve its stability; when the tilting frame needs to be tilted, the telescopic push rod extends and pushes the tilting frame to tilt, which works in conjunction with the first telescopic rod to make the tilting frame more effortless to tilt. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0043] Figure 1 This is a schematic diagram of the structure of this utility model;

[0044] Figure 2 This is a schematic diagram of the gripping unit after it has been flipped. Detailed Implementation

[0045] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of this invention. Therefore, the drawings and description are considered exemplary in nature and not restrictive.

[0046] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0047] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0048] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood according to the specific circumstances.

[0049] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0050] The following disclosure provides many different embodiments or examples for implementing various structures of this invention. To simplify the disclosure, specific examples of components and arrangements are described below. Of course, these are merely examples and are not intended to limit the scope of this invention.

[0051] The embodiments of this utility model will now be described in detail with reference to the accompanying drawings.

[0052] See Figure 1 and Figure 2 As shown, this utility model provides an automatic bar-removing robotic arm for a reduction furnace, comprising:

[0053] The transfer unit 100 is used to move the robotic arm and support it near the reduction furnace (not shown in the figure) where the bar to be disassembled is located;

[0054] Adjustment unit 200, connected to transfer unit 100, is used to adjust the spatial position of gripping unit 300; and

[0055] The gripping unit 300, connected to the adjustment unit 200, is used to identify the silicon rod 400 to be disassembled in a vertical state, clamp it, remove it, and then flip it to a horizontal state.

[0056] The transfer unit 100 is equipped with a movable base 110 with telescopic support legs at the four corners (not shown in the figure), and a support column 120 is connected to the movable base 110 to support the adjustment unit 200.

[0057] During operation, the robotic arm can be quickly moved to the vicinity of the reduction furnace where the silicon rods to be dismantled are located via the movable base 110. Then, the telescopic outriggers at the four corners extend, stably supporting the robotic arm on the ground. Next, the spatial position of the gripping unit 300 is adjusted via the adjustment unit 200, bringing it closer to the silicon rods 400 to be dismantled. The gripping unit 300 then clamps the silicon rods 400 and removes them from the chassis of the reduction furnace. After being flipped to a horizontal position, they are placed into a material cart (not shown in the figure) on the ground. After dismantling all the silicon rods 400 in the current reduction furnace, the telescopic outriggers retract, and the robotic arm is quickly moved to the vicinity of the next reduction furnace where the rods to be dismantled are located via the movable base 110 for dismantling operations. In other words, the movable base 110 with telescopic outriggers at the four corners can replace the overhead crane to quickly move the robotic arm to the dismantling point and provide support, greatly improving the ease of movement of the robotic arm.

[0058] In this embodiment, the mobile base 110 is preferably an AGV (Automated Guided Vehicle) trolley, with four telescopic outriggers retracted into its body during movement. The AGV trolley has two automatically switchable walking modes: automatic and manual. In automatic mode, it can move autonomously within a specified range along a preset path, while the manual mode facilitates intervention in special circumstances. The AGV trolley has a built-in intelligent driving system that collects environmental information such as road surface, pedestrians, and obstacles through LiDAR and cameras, enabling it to perceive the environment around the robotic arm. Based on the environmental perception results, advanced algorithms are used to make decisions to control the vehicle's power, braking, steering, and other operations. Simultaneously, based on the current environmental information and the furnace dismantling location information, a path planning algorithm optimizes the movement path, allowing the robotic arm to quickly and safely reach the furnace dismantling location. At the furnace dismantling location, the four telescopic outriggers automatically extend downwards from the vehicle body to support the robotic arm. In other words, the AGV trolley enables the robotic arm to move autonomously and be automatically supported.

[0059] The adjustment unit 200 includes the following components arranged sequentially:

[0060] Cantilever 210, which is vertically and rotatably connected to the top of support column 120; and

[0061] The swing mechanism 220 is rotatably connected at one end to the cantilever 210 and at the other end to the gripping unit 300.

[0062] Specifically, the top of the support column 120 has a vertically installed lifting platform (not shown in the figure), and the output end of the lifting platform is connected to a first rotary joint 230; the cantilever 210 is provided with a first base 211, a cantilever body 212 and a first hanging seat 213 connected in sequence, and the first base 211 is connected to the first rotary joint 230; the swing mechanism 220 includes a second base 221, a swing arm 222 and a second hanging seat 223 hinged in sequence, the second base 221 is connected to the lower part of the first hanging seat 213 through a second rotary joint 240, the lower part of the second hanging seat 223 is connected to the gripping unit 300 through a third rotary joint 250, and a telescopic cylinder 224 is hinged between the lower part of the second base 221 and the middle part of the swing arm 222. The lifting platform moves up and down, and the first rotary joint 230 rotates to drive the cantilever 210 to move up and down and rotate in the horizontal plane around the axis of the first rotary joint 230. The second rotary joint 240 rotates to drive the swing mechanism 220 to rotate in the horizontal plane around the axis of the second rotary joint 240, thereby making a large adjustment to the spatial position of the gripping unit 300, so that it quickly approaches the silicon rod 400 to be removed. The telescopic cylinder 224 extends and retracts to drive the swing arm 222 to swing in the vertical plane around its hinge point with the second base 221, moving the gripping unit 300 up and down. The third rotary joint 250 rotates to drive the gripping unit 300 to rotate, thereby making a small adjustment to the spatial position of the gripping unit 300, so that it clamps and removes the silicon rod 400 to be removed.

[0063] To improve the stability of the robotic arm during operation, the lower part of the first base 211 is connected to the cantilever body 212, and the upper part of the first base 211 is connected to the first hanging seat 213 by a first tie rod 214; the middle part of the second base 221 is hinged to the swing arm 222, and the upper part of the second base 221 is hinged to the second hanging seat 223 by a second tie rod 225 to form a parallelogram structure with the swing arm 222. The first tie rod 214 acts as a tie rod to enhance the load-bearing capacity of the cantilever body 212; when the swing arm 222 swings in the vertical plane, the parallelogram structure can ensure that the second hanging seat 223 is always in a vertical state, so that the gripping unit 300 can accurately identify the vertical silicon rod 400 to be disassembled and perform clamping and removal operations on it.

[0064] In this embodiment, the first rotary joint 230, the second rotary joint 240, and the third rotary joint 250 have identical structures and can all be locked using their own brake discs. The specific structure of the rotary joints is prior art and will not be described further here. That is to say, the three rotary joints expand the coverage and operating space of the robotic arm while achieving self-locking and good stability.

[0065] The grasping unit 300 includes the following components set in sequence:

[0066] Hanger 310, the upper part of which is connected to the third rotary joint 250;

[0067] The tilting mechanism 320 is hinged to the lower part of the hanger 310 and can tilt downwards by 90° around the hinge point; and

[0068] The clamping mechanism 330 is connected to the flipping mechanism 320;

[0069] The upper part of the hanger 310 is equipped with a binocular camera 340, which is used to identify the vertical silicon rod 400 to be removed so that it can be clamped by the clamping mechanism 330.

[0070] During furnace dismantling, the spatial position of the gripping unit 300 is adjusted by the adjustment unit 200 to bring it closer to the silicon ingot 400 to be dismantled. Then, a binocular camera 340 performs a 360° omnidirectional scan of the silicon ingot 400 to obtain precise shape and position information. Combined with software algorithms, the operating trajectory of the clamping mechanism 330 and the furnace dismantling sequence are calculated to accurately clamp and remove the silicon ingot 400. Finally, the flipping mechanism 320 drives the clamping mechanism 330 to flip downwards by 90°, allowing the silicon ingot 400 to be placed horizontally into the material cart on the ground. In other words, the omnidirectional scan of the shape and position of the silicon ingot 400 by the binocular camera 340 further improves the automation level of this robotic arm.

[0071] It should be noted that the binocular camera 340 uses a combination of 3D vision detection and software algorithms to accurately locate and identify the information of the silicon rod 400 to be disassembled, as well as to calculate the running trajectory of the clamping mechanism 330 and the furnace disassembly sequence. Since the technology is mature and belongs to the existing technology, it will not be described in detail here.

[0072] The flipping mechanism 320 includes a flipping frame 321, the lower part of which is hinged to the lower part of the hanger 310, and a first telescopic rod 322 is hinged between them to form a triangular structure with one side of variable length. The clamping mechanism 330 includes a pressure plate 331 and multiple pairs of equally spaced clamping plates 332. When the flipping frame 321 is vertical, the pressure plate 331 is located above the clamping plates 332 and is slidably connected to the flipping frame 321 by the drive of the second telescopic rod 333. The two ends of the second telescopic rod 333 are respectively hinged to the flipping frame 321 and the pressure plate 331. The multiple pairs of clamping plates 332 are divided into two rows of equal number and staggered arrangement. Each pair of clamping plates 332 is slidably connected to the flipping frame 321 and is driven to move closer or further away from each other by a linear slide (not shown in the figure). The linear slide is mounted on the flipping frame 321. The silicon rod 400 to be disassembled has an inverted U-shaped structure, including two parallel straight rod segments and an elbow located at the top of the two straight rod segments for connecting the two straight rod segments. When clamping the silicon rod 400 to be disassembled, one row of clamping plates 332 clamps one straight section of the silicon rod 400 to be disassembled, and another row of clamping plates 332 clamps the other straight section of the silicon rod 400 to be disassembled. Then, the second telescopic rod 333 drives the pressure plate 331 to press the elbow. Through the joint cooperation of multiple pairs of clamping plates 332 and pressure plates 331, the entire clamping mechanism 330 can firmly clamp the silicon rod 400 to be disassembled in any position. After the clamping mechanism 330 clamps the silicon rod 400 to be disassembled, the telescopic cylinder 224 of the swing mechanism 220 extends a certain distance, driving the entire gripping unit 300 to rise and remove the silicon rod 400 to be disassembled from the chassis of the reduction furnace. Then, the first telescopic rod 322 of the flipping mechanism 320 retracts, driving the flipping frame 321 to flip downward 90° to a horizontal state. The telescopic cylinder 224 then retracts, driving the flipping frame 321 to descend. The clamping plate 332 releases the straight rod section, and the pressure plate 331 disengages from the bend, thereby placing the silicon rod 400 to be disassembled into the material cart on the ground.

[0073] The flipping mechanism 320 also includes a telescopic push rod 323, which is fixedly installed in the upper part of the hanger 310, with its end in contact with the vertical flipping frame 321. When the flipping frame 321 is vertical, the telescopic push rod 323 abuts against the flipping frame 321, which can improve its stability; when the flipping frame 321 needs to be flipped, the telescopic push rod 323 extends, pushing the flipping frame 321 to tilt, cooperating with the first telescopic rod 322, making the flipping of the flipping frame 321 easier to flip.

[0074] A pair of energy storage boxes 130, symmetrically distributed on both sides of the support column 120, are installed on the mobile base 110 to supply power for the operation of the telescopic outriggers, lifting platform, telescopic cylinder 224, first rotary joint 230, second rotary joint 240, third rotary joint 250, first telescopic rod 322, second telescopic rod 333, telescopic push rod 323, and linear slide. In addition, the energy storage boxes 130 can also serve as counterweights, further increasing the stability of the robotic arm.

[0075] The above embodiments are merely preferred embodiments of this utility model and are not intended to limit the technical solutions of this utility model. Any technical solution that can be implemented based on the above embodiments without creative effort should be considered to fall within the scope of protection of this utility model patent.

Claims

1. An automatic bar-removing robotic arm for a reduction furnace, characterized in that, include: The transfer unit is used to move the robotic arm and support it near the reduction furnace where the bar to be removed is located; An adjustment unit, connected to the transfer unit, is used to adjust the spatial position of the gripping unit; and The gripping unit, connected to the adjustment unit, is used to identify the silicon rod to be disassembled in a vertical state, clamp it, remove it, and then flip it to a horizontal state. The transfer unit is equipped with a movable base with telescopic legs at the four corners, and a support column is connected to the movable base to support the adjustment unit.

2. The automatic rod-removing robotic arm for the reduction furnace according to claim 1, characterized in that: The mobile base is an AGV (Automated Guided Vehicle) trolley; The four telescopic outriggers described above are retracted into the vehicle body when the AGV is moving.

3. The automatic rod-removing robotic arm for the reduction furnace according to claim 1 or 2, characterized in that, The adjustment unit comprises, in sequence: A cantilever, which is vertically and rotatably connected to the top of the support column; and The swing mechanism has one end rotatably connected to the cantilever and the other end connected to the gripping unit.

4. The automatic rod-removing robotic arm for the reduction furnace according to claim 3, characterized in that: The top of the support column has a vertically installed lifting platform, and the output end of the lifting platform is connected to a first rotary joint. The cantilever is provided with a first base, a cantilever body and a first hanging seat connected in sequence, and the first base is connected to the first rotary joint; The swing mechanism includes a second base, a swing arm, and a second suspension seat that are hinged in sequence. The second base is connected to the lower part of the first suspension seat through a second rotary joint. The lower part of the second suspension seat is connected to the gripping unit through a third rotary joint. A telescopic cylinder is hinged between the lower part of the second base and the middle part of the swing arm.

5. The automatic rod-removing robotic arm for the reduction furnace according to claim 4, characterized in that: The lower part of the first base is connected to the cantilever body, and the upper part of the first base is connected to the first hanging seat by a first tie rod; The second base is hinged to the swing arm at its middle part, and a second tie rod is hinged between the upper part of the second base and the second hanger to form a parallelogram structure with the swing arm.

6. The automatic rod-removing robotic arm for the reduction furnace according to claim 4 or 5, characterized in that, The first, second, and third rotary joints have the same structure and can all be locked using their own brake discs.

7. The automatic rod-removing robotic arm for the reduction furnace according to claim 6, characterized in that, The grasping unit comprises, in sequence: The hanger, the upper part of which is connected to the third rotary joint; A flipping mechanism is hinged to the lower part of the hanger and can be flipped downwards by 90° around the hinge point; and A clamping mechanism is connected to the flipping mechanism; The upper part of the hanger is equipped with a binocular camera to identify the vertical silicon rod to be disassembled for clamping by the clamping mechanism.

8. The automatic rod-removing robotic arm for the reduction furnace according to claim 7, characterized in that: The flipping mechanism includes a flipping frame, the lower part of which is hinged to the lower part of the hanger and a first telescopic rod is hinged between them to form a triangular structure with one side of variable length. The clamping mechanism includes a pressure plate and multiple pairs of clamping plates arranged at equal intervals. When the flipping frame is vertical, the pressure plate is located above the clamping plates and is slidably connected to the flipping frame through the drive of the second telescopic rod. The two ends of the second telescopic rod are respectively hinged to the flipping frame and the pressure plate. The clamps are arranged in two rows of equal number and staggered arrangement. Each pair of clamps is slidably connected to the flipping frame and moves closer or further away from each other by the drive of a linear slide table, which is mounted on the flipping frame.

9. The automatic rod-removing robotic arm for the reduction furnace according to claim 8, characterized in that: The flipping mechanism also includes a telescopic push rod; The telescopic push rod is fixedly installed in the upper part of the hanger, and its end is in contact with the tilting frame when it is vertical.

10. The automatic rod-removing robotic arm for the reduction furnace according to claim 9, characterized in that, A pair of energy storage boxes symmetrically distributed on both sides of the support column are installed on the mobile base to provide power for the operation of the telescopic outriggers, lifting platform, telescopic cylinder, first rotary joint, second rotary joint, third rotary joint, first telescopic rod, second telescopic rod, telescopic push rod and linear slide.

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