High-precision guide rail assembly of IC trimming and forming machine
By introducing dust extraction and blowing components into the IC lead cutting and forming machine, the problem of conveying components being jammed due to debris splashing was solved, improving processing accuracy and efficiency.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SHENZHEN HUAXIN ZHIZAO TECH CO LTD
- Filing Date
- 2025-05-20
- Publication Date
- 2026-06-12
Smart Images

Figure CN224348088U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of circuit processing equipment technology, and in particular to a high-precision guide rail assembly for an IC lead cutting and forming machine. Background Technology
[0002] IC lead cutting and forming machines are key equipment in semiconductor packaging processes. They are mainly used to remove excess material from the lead frame of integrated circuits and shape the leads into specific shapes to meet the requirements of subsequent installation.
[0003] In existing devices, the IC devices to be cut are placed on the feeding assembly and transported to the lead cutting mechanism. The cutter in the lead cutting mechanism cuts the pins of the IC devices according to the preset size and shape. However, during the cutting process, debris is generated, and some of the debris may splash onto the feeding assembly, which may cause the transport assembly to jam, affecting the accuracy of subsequent processing and causing product quality problems. Utility Model Content
[0004] To address the shortcomings of existing technologies, the purpose of this application is to provide a high-precision guide rail assembly for an IC lead cutting and forming machine, which solves the problem that some debris splashes onto the feeding assembly, potentially causing the transport assembly to jam during operation and affecting the accuracy of subsequent processing.
[0005] The above-mentioned objective of this application is achieved through the following technical solution: a high-precision guide rail assembly for an IC lead cutting and forming machine, including a base, a feeding assembly for transporting materials on the base, a cutting assembly for cutting materials on the base, and a dust collection assembly for preventing debris from splashing on the cutting assembly.
[0006] The vacuuming assembly includes a support base, a fixed rod, a first motor, a first drive wheel, a first belt, a first connecting rod, a first driven wheel, a first rotating rod, a first fan, a first fixed frame, a first connecting rod, an air supply pipe, a water tank, and a suction pipe. The support base is mounted on the cutting assembly. The first motor is fixedly mounted on one side of the support base. The fixed rod is fixedly connected to the output end of the first motor. The first drive wheel is fixedly mounted on the fixed rod. The first connecting rod is fixedly connected to the support base. The first driven wheel is rotatably connected to the first connecting rod. The first belt is sleeved on the first drive wheel and the first driven wheel. The first rotating rod is fixedly connected to... The first rotating rod is rotatably connected to the first fixed frame and the first fan is located inside the first fixed frame. One end of the first connecting rod is fixedly connected to one side of the first fixed frame, and the other end of the first connecting rod passes through one side of the first fixed frame and is fixedly connected to one side of the support base. One end of the air supply pipe is fixedly installed on the first fixed frame, and its opening faces the first fan. The other end of the air supply pipe is fixedly connected to one side of the water tank and communicates with the inside of the water tank. The water tank is fixedly installed on the support base. The dust suction pipe is fixedly connected to one side of the water tank and communicates with the inside of the water tank. The dust suction port of the dust suction pipe faces the cutting component.
[0007] The vacuuming assembly also includes a second drive wheel, a second belt, a second connecting rod, a second driven wheel, a second rotating rod, a second fan, a second fixed frame, a second connecting rod, and a blower pipe. The second drive wheel is fixedly mounted on the fixed rod, the second connecting rod is fixedly connected to the support, the second driven wheel is rotatably connected to the second connecting rod, the second belt is sleeved on the second drive wheel and the second driven wheel, the second rotating rod is fixedly connected to the second fan and rotatably connected to the second fixed frame, the second fan is located inside the second fixed frame, one end of the second connecting rod is fixedly connected to one side of the second fixed frame, the other end of the second connecting rod passes through one side of the second fixed frame and is fixedly connected to the side of the support away from the first connecting rod, one end of the blower pipe is fixedly mounted on the second fixed frame, and the opening is directly opposite the second fan, the air outlet of the blower pipe is directly opposite the cutting assembly.
[0008] The cutting assembly includes a support frame, a cylinder, a fixed block, a sliding assembly, a second motor, and a cutting blade. The support frame is fixedly installed on the top surface of the base, the cylinder is fixedly installed on the inner side of the top surface of the support frame, the output end of the cylinder is fixedly connected to the top surface of the fixed block, the bearing seat is fixedly installed on the fixed block, the bottom surface of the fixed block is provided with a rotating assembly, the sliding assembly is provided on the rotating assembly, the second motor is provided on the sliding assembly, the output end of the second motor is fixedly connected to the cutting blade, the cutting blade is located above the feeding assembly, and the cutting blade is directly opposite the dust suction port of the dust suction pipe.
[0009] The rotating assembly includes a third motor and a connecting block. The third motor is fixedly mounted on the bottom surface of the fixed block, and the output end of the third motor is fixedly connected to the top surface of the connecting block. The sliding assembly is located on the bottom surface of the connecting block.
[0010] The sliding assembly includes a U-shaped frame and an electric telescopic rod. The bottom surface of the U-shaped frame is fixedly installed on the bottom surface of the connecting block, and the electric telescopic rod is fixedly connected to the inner side of the U-shaped frame. The output end of the electric telescopic rod is fixedly connected to the second motor.
[0011] The feeding assembly includes a conveyor belt and several carriers. The conveyor belt is fixedly installed on the top surface of the base, and the several carriers are fixedly installed on the top surface of the conveyor belt. The carriers are equipped with clamping components for clamping materials, and the carriers are located directly below the cutting blade.
[0012] The clamping assembly includes a stage and grippers. The stage is fixedly mounted on the shelf, and the grippers are fixedly mounted on the top surface of the stage.
[0013] In summary, this application includes at least one of the following beneficial technical effects:
[0014] When using this device, the material to be processed is first placed on the feeding assembly, which accurately conveys it to the bottom of the cutting assembly for cutting. Then, the first motor is started, driving the fixed rod to rotate, which in turn drives the first drive wheel to rotate. This, in turn, drives the first driven wheel to rotate on the first connecting rod via the first belt drive. The rotational motion of the first driven wheel is transmitted to the first rotating rod, which ultimately drives the first fan to run at high speed within the first fixed frame. The rotation of the first fan creates negative pressure in the air supply pipe, causing the suction pipe to generate suction. Its suction port is directly facing the cutting area, which can efficiently collect the debris generated during the cutting process. Both the suction pipe and the air supply pipe adopt a flexible hose design to ensure that the suction range can be flexibly adjusted. The sucked debris enters the water tank with the airflow. The water tank is pre-filled with an appropriate amount of clean water. The debris settles upon contact with the water, effectively preventing secondary flying of debris and preventing debris from splashing onto the feeding assembly, thus improving the working efficiency of the device.
[0015] When using the device, the rotation of the fixed rod drives the second driving wheel to rotate. The rotation of the second driving wheel causes the second belt drive to rotate the second driven wheel on the second connecting rod. The rotational motion of the second driven wheel is transmitted to the second rotating rod. The rotation of the second rotating rod drives the second fan to operate within the second fixed frame. This creates positive pressure within the blower pipe due to the rotation of the second fan. The blower pipe uses a flexible hose design, so that the air outlet of the blower pipe is directly facing the cutting area and is positioned opposite the suction pipe. This allows the blower pipe to blow debris towards the suction pipe, making the suction efficiency of the suction pipe more concentrated and further improving the working efficiency of the device. Attached Figure Description
[0016] Figure 1 This is a schematic diagram of the overall structure in the embodiment;
[0017] Figure 2This is a structural diagram of the vacuum cleaner assembly;
[0018] Figure 3 This is a partial structural diagram of the vacuum cleaner assembly.
[0019] Reference numerals: 1. Base; 2. Feeding assembly; 21. Conveyor belt; 22. Carrier; 3. Cutting assembly; 31. Support frame; 32. Cylinder; 33. Fixing block; 34. Second motor; 35. Cutting blade; 4. Dust collection assembly; 41. Bearing seat; 411. First connecting rod; 412. Second connecting rod; 42. Fixing rod; 43. First motor; 44. First drive wheel; 45. First belt; 46. First driven wheel; 461. First rotating rod; 462. First fan; 463. First fixed... 464. Fixed frame; 465. First connecting rod; 466. Air supply pipe; 467. Water tank; 468. Vacuum pipe; 49. Second drive wheel; 40. Second belt; 41. Second driven wheel; 492. Second rotating rod; 493. Second fixed frame; 494. Second connecting rod; 495. Air blowing pipe; 5. Sliding assembly; 51. U-shaped frame; 52. Electric telescopic rod; 6. Rotating assembly; 61. Third motor; 62. Connecting block; 7. Clamping assembly; 71. Platform; 72. Gripper. Detailed Implementation
[0020] The present application will be further described in detail below with reference to the accompanying drawings.
[0021] Example, refer to Figures 1-3A high-precision guide rail assembly for an IC lead cutting and forming machine includes a base 1, a feeding assembly 2 for transporting materials on the base 1, a cutting assembly 3 for cutting materials on the base 1, and a dust collection assembly 4 for preventing debris from splashing on the cutting assembly 3. The vacuuming assembly 4 includes a support base 41, a fixing rod 42, a first motor 43, a first drive wheel 44, a first belt 45, a first connecting rod 411, a first driven wheel 46, a first rotating rod 461, a first fan 462, a first fixing frame 463, a first connecting rod 464, an air supply pipe 465, a water tank 466, and a vacuuming pipe 467. The support base 41 is mounted on the cutting assembly 3. The first motor 43 is fixedly mounted on one side of the support base 41. The fixing rod 42 is fixedly connected to the output end of the first motor 43. The first drive wheel 44 is fixedly mounted on the fixing rod 42. The first connecting rod 411 is fixedly connected to the support base 41. The first driven wheel 46 is rotatably connected to the first connecting rod 411. The first belt 45 is sleeved on the first drive wheel 44 and the first driven wheel 46. The first rotating rod 461... The first fan 462 is fixedly connected to the first fan 462. The first rotating rod 461 is rotatably connected to the first fixed frame 463. The first fan 462 is located inside the first fixed frame 463. One end of the first connecting rod 464 is fixedly connected to one side of the first fixed frame 463. The other end of the first connecting rod 464 passes through one side of the first fixed frame 463 and is fixedly connected to one side of the support base 41. One end of the air supply pipe 465 is fixedly installed on the first fixed frame 463, and its opening is directly opposite the first fan 462. The other end of the air supply pipe 465 is fixedly connected to one side of the water tank 466 and communicates with the inside of the water tank 466. The water tank 466 is fixedly installed on the support base 41. The dust suction pipe 467 is fixedly connected to one side of the water tank 466 and communicates with the inside of the water tank 466. The dust suction port of the dust suction pipe 467 is directly opposite the cutting component 3.
[0022] Reference Figure 1 , Figure 2 as well as Figure 3When using this device, the material to be processed is first placed on the feeding assembly 2, which accurately conveys it to the bottom of the cutting assembly 3 for cutting. Then, the first motor 43 is started, which drives the fixed rod 42 to rotate, thereby driving the first drive wheel 44 to rotate. This, in turn, drives the first driven wheel 46 to rotate on the first connecting rod 411 via the first belt 45. The rotational motion of the first driven wheel 46 is transmitted to the first rotating rod 461, ultimately driving the first fan 462 to rotate at high speed within the first fixed frame 463. The rotation of the first fan 462 is reflected in the air supply pipe 4. A negative pressure is created within 65, causing the suction pipe 467 to generate suction. Its suction port is directly facing the cutting area, which can efficiently collect the debris generated during the cutting process. Both the suction pipe 467 and the air supply pipe 465 adopt a flexible hose design to ensure that the suction range can be flexibly adjusted. The sucked debris enters the water tank 466 with the airflow. The water tank 466 is fixed to the support base 41 with bolts, which facilitates subsequent disassembly and cleaning. An appropriate amount of clean water is pre-filled in the water tank 466. When the debris comes into contact with the water, it settles, effectively preventing the debris from flying again and preventing the debris from splashing onto the feeding component 2, thereby improving the working efficiency of the device.
[0023] Reference Figure 1 , Figure 2 as well as Figure 3The vacuum assembly 4 also includes a second drive wheel 47, a second belt 48, a second connecting rod 412, a second driven wheel 49, a second rotating rod 491, a second fan 492, a second fixed frame 493, a second connecting rod 494, and a blower 495. The second drive wheel 47 is fixedly mounted on the fixed rod 42, the second connecting rod 412 is fixedly connected to the support base 41, the second driven wheel 49 is rotatably connected to the second connecting rod 412, the second belt 48 is sleeved on the second drive wheel 47 and the second driven wheel 49, and the second rotating rod 491 is fixedly connected to the second fan 492, the second fixed frame 493, the second connecting rod 494, and the blower 495. On the fan 492, the second rotating rod 491 is rotatably connected to the second fixed frame 493. The second fan 492 is located inside the second fixed frame 493. One end of the second connecting rod 494 is fixedly connected to one side of the second fixed frame 493. The other end of the second connecting rod 494 passes through one side of the second fixed frame 493 and is fixedly connected to the side of the bearing seat 41 away from the first connecting rod 464. One end of the air blowing pipe 495 is fixedly installed on the second fixed frame 493, and its opening is directly opposite the second fan 492. The air outlet of the air blowing pipe 495 is directly opposite the cutting assembly 3. When using the device, the rotation of the fixed rod 42 drives the second driving wheel 47 to rotate. The rotation of the second driving wheel 47 drives the second belt 48 to rotate the second driven wheel 49 on the second connecting rod 412. The rotation of the second driven wheel 49 is transmitted to the second rotating rod 491. The rotation of the second rotating rod 491 drives the second fan 492 to operate in the second fixed frame 493. This creates positive pressure in the blower pipe 495. The blower pipe 495 adopts a flexible hose design, so that the air outlet of the blower pipe 495 is directly facing the cutting area and is in a corresponding position to the suction pipe 467. Thus, the blower pipe 495 can blow debris to the suction pipe 467, making the suction efficiency of the suction pipe 467 more concentrated and further improving the working efficiency of the device.
[0024] Reference Figure 1The cutting assembly 3 includes a support frame 31, a cylinder 32, a fixing block 33, a sliding assembly 5, a second motor 34, and a cutting blade 35. The support frame 31 is fixedly installed on the top surface of the base 1. The cylinder 32 is fixedly installed on the inner side of the top surface of the support frame 31. The output end of the cylinder 32 is fixedly connected to the top surface of the fixing block 33. The bearing seat 41 is fixedly installed on the fixing block 33. The bottom surface of the fixing block 33 is provided with a rotating assembly 6. The sliding assembly 5 is provided on the rotating assembly 6. The second motor 34 is provided on the sliding assembly 5. The output end of the second motor 34 is fixedly connected to the cutting blade 35. The cutting blade 35 is located above the feeding assembly 2 and is directly opposite the suction port of the suction pipe 467. When using the device for cutting, the cylinder 32 is activated, and the output end of the cylinder 32 causes the cutting blade 35 to move downward. When the cutting blade 35 reaches the material to be cut, the cylinder 32 stops running. Then, the second motor 34 is activated, and the second motor 34 drives the cutting blade 35 to rotate for cutting. Then, the sliding component 5 is activated, which drives the cutting blade 35 to move horizontally, so that one side of the material to be cut is completed. Then, the rotating component 6 is used to rotate the cutting blade 35 to cut the other side, which improves the working efficiency of the device.
[0025] Reference Figure 1 The rotating assembly 6 includes a third motor 61 and a connecting block 62. The third motor 61 is fixedly mounted on the bottom surface of the fixed block 33, and the output end of the third motor 61 is fixedly connected to the top surface of the connecting block 62. The sliding assembly 5 is disposed on the bottom surface of the connecting block 62. When the cutting blade 35 is rotated, the third motor 61 is started, which drives the connecting block 62 to rotate, thereby rotating the cutting blade 35 to the other side of the material being cut, improving the convenience of the device.
[0026] Reference Figure 1 The sliding assembly 5 includes a U-shaped frame 51 and an electrically operated telescopic rod 52. The bottom surface of the U-shaped frame 51 is fixedly installed on the bottom surface of the connecting block 62, and the electrically operated telescopic rod 52 is fixedly connected to the inner side of the U-shaped frame 51. The output end of the electrically operated telescopic rod 52 is fixedly connected to the second motor 34. When the cutting blade 35 is cutting, by activating the electrically operated telescopic rod 52, the cutting blade 35 cuts parallel to one side of the material being cut, completing a full cut on one side of the material, thus improving the convenience of the device.
[0027] Reference Figure 1The feeding assembly 2 includes a conveyor belt 21 and several carrying racks 22. The conveyor belt 21 is fixedly installed on the top surface of the base 1, and the several carrying racks 22 are respectively fixedly installed on the top surface of the conveyor belt 21. Clamping components 7 for clamping materials are provided on the carrying racks 22. The carrying racks 22 are located directly below the cutting blade 35. When using the device, materials are placed on the carrying racks 22, clamped by the clamping components 7, and then conveyed to the cutting assembly 3 by the conveyor belt 21. The transport function of the conveyor belt 21 improves the convenience of the device.
[0028] Reference Figure 1 The clamping assembly 7 includes a platform 71 and grippers 72. The platform 71 is fixedly mounted on the frame 22, and the grippers 72 are fixedly mounted on the top surface of the platform 71. When using the device, materials are placed on the top surface of the platform 71 and clamped by the grippers 72 before being transported. The grippers 72 prevent materials from falling during transport, thus improving the device's working efficiency.
[0029] Working principle:
[0030] When chip removal is required, the first motor 43 is started. The first motor 43 drives the fixed rod 42 to rotate, which in turn drives the first driving wheel 44 and the second driving wheel 47 to rotate. This rotation is then transmitted through the first belt 45 and the second belt 48, causing the first driven wheel 46 and the second driven wheel 49 to rotate on the first connecting rod 411 and the second connecting rod 412, respectively. The rotational motion of the first driven wheel 46 and the second driven wheel 49 is transmitted to the first rotating rod 461 and the second rotating rod 491, ultimately driving the first fan 462 and the second fan 492 to rotate. The rotation of fan 462 creates negative pressure in air supply pipe 465, causing suction in suction pipe 467. Its suction port is directly facing the cutting area, which can efficiently collect the debris generated during the cutting process. The rotation of second fan 492 creates positive pressure in air supply pipe 465. The air outlet of air supply pipe 495 is directly facing the cutting area, blowing the debris to suction pipe 467. The debris sucked into suction pipe 467 enters water tank 466 with the airflow. Water tank 466 is pre-filled with an appropriate amount of clean water. The debris settles upon contact with water, effectively preventing secondary flying of debris, preventing debris splashing, and improving the working efficiency of the device.
[0031] The embodiments described in this specific implementation are preferred embodiments of this application and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.
Claims
1. A high-precision guide rail assembly for an IC lead cutting and forming machine, comprising a base (1), characterized in that: The base (1) is provided with a feeding component (2) for transporting materials, the base (1) is provided with a cutting component (3) for cutting materials, and the cutting component (3) is provided with a dust suction component (4) for preventing debris from splashing.
2. The high-precision guide rail assembly for an IC lead cutting and forming machine according to claim 1, characterized in that: The vacuuming assembly (4) includes a support base (41), a fixing rod (42), a first motor (43), a first drive wheel (44), a first belt (45), a first connecting rod (411), a first driven wheel (46), a first rotating rod (461), a first fan (462), a first fixing frame (463), a first connecting rod (464), an air supply pipe (465), a water tank (466), and a vacuuming pipe (467). The support base (41) is mounted on the cutting assembly (3). (43) Fixedly installed on one side of the bearing seat (41), the fixing rod (42) is fixedly connected to the output end of the first motor (43), the first driving wheel (44) is fixedly installed on the fixing rod (42), the first connecting rod (411) is fixedly connected to the bearing seat (41), the first driven wheel (46) is rotatably connected to the first connecting rod (411), the first belt (45) is sleeved on the first driving wheel (44) and the first driven wheel (46), the first belt... The moving rod (461) is fixedly connected to the first fan (462), the first rotating rod (461) is rotatably connected to the first fixed frame (463), the first fan (462) is located inside the first fixed frame (463), one end of the first connecting rod (464) is fixedly connected to one side of the first fixed frame (463), and the other end of the first connecting rod (464) passes through one side of the first fixed frame (463) and is fixedly connected to one side of the support seat (41). The air supply pipe (465) One end of the air supply pipe (465) is fixedly installed on the first fixed frame (463), and the opening is directly opposite the first fan (462). The other end of the air supply pipe (465) is fixedly connected to one side of the water tank (466) and communicates with the inside of the water tank (466). The water tank (466) is fixedly installed on the support seat (41). The dust suction pipe (467) is fixedly connected to one side of the water tank (466) and communicates with the inside of the water tank (466). The dust suction port of the dust suction pipe (467) is directly opposite the cutting component (3).
3. The high-precision guide rail assembly for an IC lead cutting and forming machine according to claim 2, characterized in that: The vacuuming assembly (4) further includes a second drive wheel (47), a second belt (48), a second connecting rod (412), a second driven wheel (49), a second rotating rod (491), a second fan (492), a second fixed frame (493), a second connecting rod (494), and a blower pipe (495). The second drive wheel (47) is fixedly mounted on the fixed rod (42), the second connecting rod (412) is fixedly connected to the support seat (41), the second driven wheel (49) is rotatably connected to the second connecting rod (412), the second belt (48) is sleeved on the second drive wheel (47) and the second driven wheel (49), and the second rotating rod (491) is fixedly connected to the second fan (492), the second fixed frame (493), the second connecting rod (494), and the blower pipe (495). On the fan (492), the second rotating rod (491) is rotatably connected to the second fixed frame (493). The second fan (492) is located inside the second fixed frame (493). One end of the second connecting rod (494) is fixedly connected to one side of the second fixed frame (493). The other end of the second connecting rod (494) passes through one side of the second fixed frame (493) and is fixedly connected to the side of the bearing seat (41) away from the first connecting rod (464). One end of the blowing pipe (495) is fixedly installed on the second fixed frame (493), and its opening is directly opposite the second fan (492). The air outlet of the blowing pipe (495) is directly opposite the cutting assembly (3).
4. The high-precision guide rail assembly for an IC lead cutting and forming machine according to claim 2, characterized in that: The cutting assembly (3) includes a support frame (31), a cylinder (32), a fixed block (33), a sliding assembly (5), a second motor (34), and a cutting blade (35). The support frame (31) is fixedly installed on the top surface of the base (1). The cylinder (32) is fixedly installed on the inner side of the top surface of the support frame (31). The output end of the cylinder (32) is fixedly connected to the top surface of the fixed block (33). The bearing seat (41) is fixedly installed on the fixed block (33). A rotating assembly (6) is provided on the bottom surface of the fixed block (33). The sliding assembly (5) is provided on the rotating assembly (6). The second motor (34) is provided on the sliding assembly (5). The output end of the second motor (34) is fixedly connected to the cutting blade (35). The cutting blade (35) is located above the feeding assembly (2) and is directly opposite the suction port of the suction pipe (467).
5. The high-precision guide rail assembly for an IC lead cutting and forming machine according to claim 4, characterized in that: The rotating component (6) includes a third motor (61) and a connecting block (62). The third motor (61) is fixedly installed on the bottom surface of the fixed block (33), and the output end of the third motor (61) is fixedly connected to the top surface of the connecting block (62). The sliding component (5) is disposed on the bottom surface of the connecting block (62).
6. The high-precision guide rail assembly for an IC lead cutting and forming machine according to claim 5, characterized in that: The sliding assembly (5) includes a U-shaped frame (51) and an electric telescopic rod (52). The bottom surface of the U-shaped frame (51) is fixedly installed on the bottom surface of the connecting block (62). The electric telescopic rod (52) is fixedly connected to the inner side of the U-shaped frame (51). The output end of the electric telescopic rod (52) is fixedly connected to the second motor (34).
7. The high-precision guide rail assembly for an IC lead cutting and forming machine according to claim 4, characterized in that: The feeding assembly (2) includes a conveyor belt (21) and a carrier (22). There are several carriers (22). The conveyor belt (21) is fixedly installed on the top surface of the base (1). Several carriers (22) are fixedly installed on the top surface of the conveyor belt (21). The carrier (22) is provided with a clamping assembly (7) for clamping materials. The carrier (22) is located directly below the cutting blade (35).
8. The high-precision guide rail assembly for an IC lead cutting and forming machine according to claim 7, characterized in that: The clamping assembly (7) includes a platform (71) and a gripper (72). The platform (71) is fixedly installed on the rack (22), and the gripper (72) is fixedly installed on the top surface of the platform (71).