Automatic production line for automobile flush door glass
By designing an automated production line for flush-mounted door glass in automobiles, the problems of low production efficiency, unstable quality, and high cost caused by manual operation have been solved, achieving safe and efficient production of flush-mounted door glass.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SHANGHAI WEIYU PRECISION MACHINE
- Filing Date
- 2025-06-05
- Publication Date
- 2026-05-15
AI Technical Summary
The production of flush-mounted door glass for automobiles relies on manual labor, resulting in low production efficiency, unstable quality, high costs, and safety hazards. There is an urgent need for automated equipment to achieve safe and efficient production.
An automated production line for flush-mounted door glass in automobiles has been designed, including a feeding mechanism, a handling robot, a primer coating mechanism, a drying and conveying mechanism, and a discharge and conveying mechanism. Combined with a three-axis servo module, an industrial camera, and a tooling mechanism, it realizes automated coating, drying, positioning, and curing of flush-mounted door glass, forming a production line.
It has achieved fully automated production of flush-mounted glass doors, improving production efficiency and product quality, reducing manual labor and costs, and enhancing production safety.
Smart Images
Figure CN224237396U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of automotive glass production technology, specifically to an automated production line for automotive flush door glass. Background Technology
[0002] Flush-in-the-door glass, also known as a flush door or zero-step door, is a new type of door structure in automotive design. This design eliminates the step between the glass and the trim panel, making the glass flush with the door surface, thereby improving the vehicle's aesthetics and aerodynamic performance. With the development of modern industry, automated production has been greatly improved due to the widespread application of robots, such as in automobile manufacturing lines and construction machinery, where robots are particularly convenient for production. However, the production of flush-in-the-door glass is still mainly done manually. For example, the primer coating for flush-in-the-door glass is mostly applied manually. Therefore, the production of flush-in-the-door glass is more significantly affected by human factors, resulting in much lower production efficiency. At the same time, manual work results in relatively lower product quality, and the higher labor costs also lead to relatively higher production costs for flush-in-the-door glass. Similarly, the large amount of manual work also brings relatively higher safety hazards. Therefore, there is an urgent need for safer and more efficient automated equipment to achieve this. Utility Model Content
[0003] The purpose of this invention is to provide an automated production line for flush door glass in automobiles, in order to solve the problems mentioned in the background art.
[0004] To achieve the above objectives, this utility model provides the following technical solution: an automated production line for automotive flush door glass, comprising a loading mechanism and a transport robot. The transport robot is located on the left side of the loading mechanism, a primer coating mechanism is located behind the loading mechanism, a drying and conveying mechanism is located on the left side of the primer coating mechanism, and a discharge conveying mechanism is located on the left side of the drying and conveying mechanism. A tooling mechanism is located between the drying and conveying mechanisms and the discharge conveying mechanism. The primer coating mechanism includes a stand, on which a coating table, a three-axis servo module, and a felt head feeding system are mounted. The three-axis servo module is connected to a felt head. A second bracket is located on the side of the stand, and a second industrial camera is located above the second bracket.
[0005] Further preferably, the feeding mechanism includes a first conveyor belt and a second conveyor belt, which are connected and transport materials from right to left. An adsorption component is located in the middle of the first conveyor belt, and a first bracket is located on the side of the second conveyor belt. Several first industrial cameras are mounted on the first bracket. The first and second conveyor belts are used for the right-to-left feeding of the flush door, the adsorption component is used to adsorb and fix the flush door glass on the first conveyor belt, and the first industrial cameras are used to photograph and position the flush door glass on the second conveyor belt.
[0006] Further preferably, the adsorption assembly includes a fixing block fixed to the first conveyor belt, a lifting cylinder mounted on the fixing block, the piston rod of the lifting cylinder pointing upward and connected to a lifting plate, a support plate mounted above the lifting plate, and an adjustable suction cup mounted on the support plate. The lifting cylinder can drive the lifting plate to rise and fall, causing the support plate and suction cup to move up and down synchronously, realizing the adsorption and fixation of the suction cup flush with the glass door, facilitating safety during cleaning.
[0007] Further preferably, a guide is connected between the fixing block and the lifting plate to ensure that the lifting plate rises and falls smoothly; the support plate is provided with waist-shaped holes set at the top and bottom for adjusting the height of the suction cup.
[0008] Further preferably, the second industrial camera is equipped with a light shield to block light and improve the imaging and detection effect; a fourth belt conveyor is provided between the base coating mechanism and the drying and conveying mechanism for automatic unloading of detected defective products.
[0009] Further preferably, the drying and conveying mechanism includes a first vertical conveyor line, a third belt conveyor line, and a first drying oven. The first vertical conveyor line and the third belt conveyor line are connected and convey from right to left. The first vertical conveyor line passes through the first drying oven. The first vertical conveyor line and the third belt conveyor line are used for conveying the flush-door glass. The first vertical conveyor line can vertically convey the flush-door glass, which facilitates increasing the conveying time of a single piece of glass in the first drying oven and improving the drying effect. It can also increase the conveying capacity of the first vertical conveyor line. For the same length of conveyor line, the conveying capacity can be increased many times, which has a buffering effect. The third belt conveyor line is used for horizontally conveying the flush-door glass, which facilitates the transfer of the flush-door glass to the tooling mechanism.
[0010] Further preferably, the first vertical conveyor line includes a geared motor connected to a chain belt. The chain belt moves left and right, and multiple baffles are evenly distributed along its circumference on both the front and rear sides of the chain belt. The geared motor can drive the chain belt and baffles to move, realizing the vertical transport of flush-mounted glass, which can increase the transport capacity and improve the buffering efficiency of the flush-mounted glass.
[0011] Further preferably, the unloading and conveying mechanism includes a second vertical conveyor line and a second drying oven. The second vertical conveyor line conveys from right to left and passes through the second drying oven. The structure of the second vertical conveyor line is the same as that of the first vertical conveyor line. The second vertical conveyor line is used to vertically convey the flush door glass and also serves to buffer the flush door glass; the second drying oven is used to cure the adhesive after the brackets and guide rails are installed.
[0012] Further preferably, the tooling mechanism includes a tooling table, on which are provided several pressing components, several positioning components, and several support rods, and several limiting rods are provided in the middle of the area enclosed by the pressing components. The pressing components are used to press the flush door glass, the positioning components and the limiting rods cooperate to achieve the horizontal positioning of the flush door; the support rods are used to support the flush door glass from below.
[0013] Further preferably, the pressing assembly consists of a vertically driven pressing cylinder and a pressing plate. The pressing cylinder drives the pressing plate to rise and fall, thereby pressing and fixing the aligned door glass. The positioning assembly consists of a horizontally driven positioning cylinder and a positioning roller. The positioning cylinder drives the positioning roller to move horizontally, thereby horizontally pressing and fixing the aligned door glass.
[0014] Beneficial effects: The automated production line for flush door glass of automobiles of this utility model can perform cleaning, conveying and positioning through the feeding mechanism, apply primer to the flush door glass through the primer coating mechanism, convey and dry the flush door glass through the drying and conveying mechanism, position and fix the flush door glass through the common tooling mechanism, which facilitates the installation of brackets and guide rails, and perform high-temperature curing and conveying of the flush door glass through the unloading and conveying mechanism, so as to realize the automated production of flush door glass, with fast production speed, high efficiency and high product quality;
[0015] This automated production line enables the entire process of aligning glass mounting brackets and guide rails for flat-pane windows. It includes pre-installation cleaning, automatic feeding, applying primer, drying, positioning and installing brackets and guide rails, and curing and unloading. The entire process is seamless and smooth, enabling fast, accurate, and high-quality alignment of glass mounting brackets and guide rails for flat-pane windows. It reduces manual labor, lowers production costs, improves quality, and enhances production safety. Attached Figure Description
[0016] Figure 1 This is an isometric structural schematic diagram of an automated production line for automobile flush door glass disclosed in an embodiment of this utility model.
[0017] Figure 2 This is a top view of the automated production line for automobile flush door glass disclosed in an embodiment of the present utility model.
[0018] Figure 3 This is a schematic diagram of the feeding mechanism disclosed in the embodiments of this utility model;
[0019] Figure 4 This is a schematic diagram of the structure of the adsorption component disclosed in the embodiments of this utility model;
[0020] Figure 5 This is a schematic diagram of the structure of the primer coating mechanism disclosed in the embodiments of this utility model;
[0021] Figure 6 This is a schematic diagram of the drying and conveying mechanism disclosed in the embodiment of this utility model;
[0022] Figure 7 This is a schematic diagram of the first vertical conveyor line disclosed in the embodiment of the present utility model and its state structure when conveying flush door glass;
[0023] Figure 8 This is a schematic diagram of the material feeding and conveying mechanism disclosed in the embodiment of this utility model;
[0024] Figure 9 This is a schematic diagram of the tooling mechanism disclosed in the embodiment of this utility model.
[0025] Figure reference numerals: 1-Feeding mechanism, 11-First conveyor belt, 12-Second conveyor belt, 13-Adsorption assembly, 131-Fixing block, 132-Lifting cylinder, 133-Lifting plate, 134-Support plate, 135-Suction cup, 136-Guide component, 14-First bracket, 15-First industrial camera, 2-Transfer robot, 3-Primer coating mechanism, 31-Upright frame, 32-Coating table, 33-Three-axis servo module, 34-Felt head, 35-Felt head feeding system, 36-Second bracket, 37-Second industrial camera, 3 8-Sunshade cover, 4-Drying and conveying mechanism, 41-First vertical conveyor line, 411-Gear motor, 412-Chain belt, 413-Stop bar, 42-Third belt conveyor, 43-First drying oven, 5-Fourth belt conveyor, 6-Tooling mechanism, 61-Tooling table, 62-Pressure assembly, 621-Pressure cylinder, 622-Pressure plate, 63-Positioning assembly, 631-Positioning cylinder, 632-Positioning roller, 64-Limiting rod, 65-Support rod, 7-Unloading and conveying mechanism, 71-Second vertical conveyor line, 72-Second drying oven. Detailed Implementation
[0026] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments.
[0027] like Figure 1-9As shown, an automated production line for automotive flush door glass is used for the automatic application of primer, installation of brackets and guide rails, forming a streamlined automated production line. This results in better production efficiency, more stable production, and greater safety for flush door glass. The automated production line includes a loading mechanism 1 and a transport robot 2. The transport robot 2 is located to the left of the loading mechanism 1. A primer coating mechanism 3 is located behind the loading mechanism 1. A drying and conveying mechanism 4 is located to the left of the primer coating mechanism 3. A discharge conveying mechanism 7 is located to the left of the drying and conveying mechanism 4. A tooling mechanism 6 is located between the drying and conveying mechanisms 4 and the discharge conveying mechanism 7, at the front. The production line comprises several components: a loading mechanism 1 for conveying and loading glass, facilitating cleaning and photographic positioning of the flush-mounted glass; a handling robot 2 for transporting and transferring the flush-mounted glass to different workstations; a primer coating mechanism 3 for automatically applying primer to the flush-mounted glass and performing visual inspection after coating; a drying and conveying mechanism 4 for conveying and drying the coated flush-mounted glass; a tooling mechanism 6 for positioning and fixing the coated flush-mounted glass, facilitating the installation of brackets and guide rails, which are installed using adhesive; and an unloading and conveying mechanism 7 for unloading and conveying the tooled flush-mounted glass and performing high-temperature curing, ensuring rapid curing of the adhesive between the brackets, guide rails, and the flush-mounted glass. Integrating primer application, drying, bracket and guide rail installation, and curing / unloading onto a single production line effectively improves the production efficiency of the flush-mounted glass.
[0028] In this application, the primer coating mechanism 3 includes a stand 31, on which a coating table 32, a three-axis servo module 33, and a felt head feeding system 35 are mounted. The three-axis servo module 33 is connected to a felt head 34, enabling the felt head 34 to move freely within a certain range, thus applying the primer to the flush-mounted glass on the coating table 32. A second support 36 is located on the side of the stand 31, and a second industrial camera 37 is mounted above the second support 36. The second industrial camera 37 can inspect the primer applied to the flush-mounted glass to ensure the quality of the primer. Flush-mounted glass with substandard primer is either placed in the substandard product area or transported out via a conveyor line.
[0029] In some embodiments of this application, the feeding mechanism 1 includes a first conveyor belt 11 and a second conveyor belt 12. The first conveyor belt 11 and the second conveyor belt 12 are connected and convey from right to left to realize the feeding and conveying of the aligned glass, which facilitates the handling robot 2 to handle the aligned glass. The first conveyor belt 11 and the second conveyor belt 12 form a long conveyor line to realize the continuous feeding of the aligned glass. An adsorption component 13 is provided in the middle of the first conveyor belt 11 for fixing the aligned glass, which facilitates cleaning of the aligned glass and ensures the subsequent coating quality of the aligned glass. A first bracket 14 is provided on the side of the second conveyor belt 12. Several first industrial cameras 15 are installed on the first bracket 14. The first industrial cameras 15 can take pictures of the position of the aligned glass to obtain the precise position of the aligned glass, ensuring that the handling robot 2 can accurately grasp the aligned glass, thereby ensuring that the aligned glass is accurately placed on the coating table 32 of the base coating mechanism 3, thus ensuring the accurate coating of the aligned glass.
[0030] Based on the above scheme, the adsorption component 13 includes a fixing block 131 fixed to the first conveyor belt 11. A lifting cylinder 132 is installed on the fixing block 131. The piston rod of the lifting cylinder 132 is upward and connected to a lifting plate 133. A support plate 134 is installed above the lifting plate 133, and an adjustable suction cup 135 is installed on the support plate 134. The adsorption component 13 is fixed to the first conveyor belt 11 by the fixing block 131. The first conveyor belt 11 has a double-belt structure with two belts arranged one after the other. The adsorption component 13 is positioned between the two belts, enabling it to adsorb and fix flush door glass placed on the two belts. The lifting cylinder 132 drives the lifting plate 133 to rise, which in turn drives the support plate 134 to rise synchronously, causing the suction cup 135 to rise. The suction cup 135 then adsorbs and fixes the flush door glass. The suction cup 135 has an adjustable mounting structure, and its height relative to the support plate 134 is adjustable.
[0031] Based on the above scheme, a guide 136 is connected between the fixing block 131 and the lifting plate 133 for guiding the lifting plate 133, ensuring that the lifting plate 133 rises and falls smoothly and stably, and at the same time ensuring the stability of the lifting plate 133 and the suction cup 135 connected above it. The support plate 134 is provided with waist-shaped holes arranged vertically, which facilitates the height adjustment of the suction cup 135.
[0032] In some embodiments of this application, the second industrial camera 37 is equipped with a light shield 38 to block light from the surrounding area and top of the second industrial camera 37, ensuring the detection accuracy of the second industrial camera 37. A fourth conveyor belt 5 is provided between the primer coating mechanism 3 and the drying and conveying mechanism 4 for front-to-back transmission. This conveyor belt is used to unload and transport flush-fit door glass with unqualified primer coating detected by the second industrial camera 37. The unqualified flush-fit door glass is placed onto the fourth conveyor belt 5 by the handling robot 2, and then transported to the defective product area via the fourth conveyor belt 5.
[0033] In some embodiments of this application, the drying and conveying mechanism 4 includes a first vertical conveyor line 41, a third belt conveyor 42, and a first drying oven 43. The first vertical conveyor line 41 and the third belt conveyor 42 are connected and convey from right to left. The first vertical conveyor line 41 passes through the first drying oven 43. Flush-fitting glass panels that have passed visual inspection of the primer are placed onto the first vertical conveyor line 41 by the handling robot 2. The first vertical conveyor line 41 vertically positions and transports the flush-fitting glass panels, ensuring that it can simultaneously handle multiple flush-fitting glass panels, reducing the area occupied by horizontally laid-out panels, increasing drying time, and acting as a buffer for the coating. It also prevents the applied primer from being scratched and reduces the amount of dust falling onto the primer. The first drying oven 43 dries the primer.
[0034] Based on the above scheme, the first vertical conveyor line 41 includes a reduction motor 411, which is connected to a chain belt 412. The chain belt 412 conveys the glass from right to left, thus achieving the conveying of the flush door glass from right to left. The conveying of the chain belt 412 is not affected by the first oven 43, ensuring smooth conveying of the first vertical conveyor line 41. Multiple baffles 413 are evenly distributed along the circumference on both the front and rear sides of the chain belt 412 for vertical support to align the flush door glass.
[0035] Based on the above scheme, the material conveying mechanism 7 includes a second vertical conveyor line 71 and a second drying oven 72. The second vertical conveyor line 71 conveys from right to left and passes through the second drying oven 72, realizing the right-to-left conveying and high-temperature curing of the aligned glass, that is, curing the adhesive between the bracket and guide rail and the aligned glass, ensuring the strong adhesion of the installed bracket and guide rail. The structure of the second vertical conveyor line 70 is the same as that of the first vertical conveyor line 41, that is, it can stand the aligned glass upright, can simultaneously transport multiple aligned glass panes, reduce the area occupied by the flat aligned glass, increase the drying time, and also act as a buffer.
[0036] In some embodiments of this application, the tooling mechanism 6 includes a tooling table 61, on which are provided several pressing components 62, several positioning components 63, and several support rods 65. Several limiting rods 64 are provided in the middle of the area enclosed by the pressing components 62. The tooling table 61 is used for the installation of the pressing components 62, positioning components 63, support rods 65, and limiting rods 64. The pressing components 62 are used to fix the flush door glass from top to bottom. The positioning components 63 are used to fix the sides of the flush door glass between the limiting rods 64 and the positioning components. The support rods 65 are used to support the bottom of the flush door glass. The cooperation of the pressing components 62, positioning components 63, and limiting rods 64 ensures that the flush door glass is accurately positioned and stably fixed, which facilitates the gluing of brackets and guide rails on the flush door glass and improves installation accuracy.
[0037] Based on the above scheme, the pressing assembly 62 consists of a vertically driven pressing cylinder 621 and a pressing plate 622. The pressing cylinder 621 controls the lifting and lowering of the pressing plate 622, achieving rapid pressing and fixing of the aligned door glass. The positioning assembly 63 consists of a horizontally driven positioning cylinder 631 and a positioning roller 632. The positioning cylinder 631 drives the positioning roller 632 to push the aligned door glass, ensuring that its side relative to the positioning roller 632 is close to the limiting rod 64, achieving rapid positioning of the aligned door glass. This, in conjunction with the pressing assembly 62, ensures the secure fixing of the aligned door glass. The pressing surface of the pressing plate 622 is made of flexible material, and the roller surface of the positioning roller 632 is made of flexible rubber material, both ensuring the pressing, clamping, and fixing of the aligned door glass without scratching or damaging it. Simultaneously, the end of the support rod 65 uses a ball bearing structure to prevent scratching the surface of the aligned door glass.
[0038] In this application, the workflow of the automated production line is as follows: Manual or mechanical loading is performed to transport the flush-mounted glass to the first conveyor belt 11 of the loading mechanism 1. The suction cup 135 is raised by the lifting cylinder 132 of the adsorption component 13 to fix the flush-mounted glass in place. Then, the flush-mounted glass is cleaned. After cleaning, the adsorption component 13 releases the flush-mounted glass, and the first conveyor belt 11 automatically transports the cleaned glass to the second conveyor belt 12 and continues to move to the left to a set position. Then, the first industrial camera 15 takes a picture of the flush-mounted glass on the second conveyor belt 12 for positioning. Then, the transport robot 2 picks up the flush-mounted glass and places it onto the coating table 32 of the base coating mechanism 3. Then, the three-axis servo module 33 moves, driving the felt head 34 to apply the base coating to the flush-mounted glass. After coating, visual inspection is performed, and the detected... Flush glass with poor primer coating is conveyed out of the production line via the fourth conveyor belt 5. Good products are transported by the handling robot 2 to the first vertical conveyor belt 41 of the drying and conveying mechanism 4 and placed vertically. Then, it is dried in the first oven 43 under the transmission of the first vertical conveyor belt 41, and then enters the third conveyor belt 42. It is then manually or by handling to the tooling table 61 of the tooling mechanism 6. Then, it is positioned and fixed with the cooperation of the pressing component 62 and the positioning component 63. Next, the bracket and guide rail are installed manually. After installation, the flush glass is transported to the second vertical conveyor belt 71 of the unloading conveying mechanism 7 and placed vertically. The second vertical conveyor belt 71 transports the flush glass to the left and through the second oven for high-temperature curing. Then, the flush glass products with all tooling completed are removed manually or mechanically, and the unloading is completed.
[0039] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the scope of protection of this utility model.
Claims
1. An automated production line for flush-mounted door glass in automobiles, characterized in that: The system includes a loading mechanism (1) and a transport robot (2). The transport robot (2) is located on the left side of the loading mechanism (1). A base coating mechanism (3) is located on the rear side of the loading mechanism (1). A drying and conveying mechanism (4) is located on the left side of the base coating mechanism (3). A discharge conveying mechanism (7) is located on the left side of the drying and conveying mechanism (4). A tooling mechanism (6) is located on the front side between the drying and conveying mechanism (4) and the discharge conveying mechanism (7). The base coating mechanism (3) includes a stand (31). A coating table (32), a three-axis servo module (33), and a felt head feeding system (35) are provided on the stand (31). The three-axis servo module (33) is connected to a felt head (34). A second bracket (36) is provided on the side of the stand (31). A second industrial camera (37) is provided above the second bracket (36).
2. The automated production line for flush-mounted door glass in automobiles according to claim 1, characterized in that: The feeding mechanism (1) includes a first belt (11) and a second belt (12). The first belt (11) and the second belt (12) are connected and convey from right to left. An adsorption component (13) is provided in the middle of the first belt (11). A first bracket (14) is provided on the side of the second belt (12). Several first industrial cameras (15) are installed on the first bracket (14).
3. An automated production line for flush-mounted automotive door glass according to claim 2, characterized in that: The adsorption assembly (13) includes a fixing block (131) fixed on the first belt (11), a lifting cylinder (132) is installed on the fixing block (131), the piston rod of the lifting cylinder (132) is upward and connected to a lifting plate (133), a support plate (134) is installed above the lifting plate (133), and an adjustable suction cup (135) is installed on the support plate (134).
4. An automated production line for flush-mounted automotive door glass according to claim 3, characterized in that: A guide (136) is connected between the fixing block (131) and the lifting plate (133), and the support plate (134) is provided with waist-shaped holes arranged vertically.
5. An automated production line for flush-mounted automotive door glass according to claim 1, characterized in that: The second industrial camera (37) is covered with a light shield (38), and a fourth belt line (5) for front-to-back transmission is provided between the base coating mechanism (3) and the drying and transmission mechanism (4).
6. An automated production line for flush-mounted automotive door glass according to claim 1, characterized in that: The drying and conveying mechanism (4) includes a first vertical conveyor line (41), a third belt conveyor line (42) and a first drying oven (43). The first vertical conveyor line (41) and the third belt conveyor line (42) are connected and convey from right to left. The first vertical conveyor line (41) passes through the first drying oven (43).
7. An automated production line for flush-mounted automotive door glass according to claim 6, characterized in that: The first vertical conveyor line (41) includes a geared motor (411), the geared motor (411) is connected to a chain belt (412), the chain belt (412) conveys left and right, and multiple baffles (413) are evenly distributed along its circumference on the front and rear sides of the chain belt (412).
8. An automated production line for flush-mounted automotive door glass according to claim 7, characterized in that: The feeding and conveying mechanism (7) includes a second vertical conveyor line (71) and a second oven (72). The second vertical conveyor line (71) conveys from right to left and passes through the second oven (72). The structure of the second vertical conveyor line (71) is the same as that of the first vertical conveyor line (41).
9. An automated production line for flush-mounted automotive door glass according to claim 1, characterized in that: The tooling mechanism (6) includes a tooling table (61), on which are provided a plurality of pressing components (62), a plurality of positioning components (63) and a plurality of support rods (65), and a plurality of limiting rods (64) are provided in the middle of the area enclosed by the plurality of pressing components (62).
10. An automated production line for flush-mounted door glass in automobiles according to claim 9, characterized in that: The pressing assembly (62) consists of a vertically driven pressing cylinder (621) and a pressing plate (622), and the positioning assembly (63) consists of a horizontally driven positioning cylinder (631) and a positioning roller (632).