Automatic rivet sealant gasket assembly device

Abstract

The utility model relates to an automatic assembly device, especially a rivet sealing rubber gasket automatic assembly device. The device can automatically insert the core-pulling rivet into the sealing washer without manual intervention, and complete the accurate assembly of the two. It comprises a workbench, a rivet vibration feeder, a washer vibration feeder and an assembly manipulator are installed on the workbench. The rivet vibration feeder is used to sort and deliver the core-pulling rivet to the rivet taking position. The washer vibration feeder is used to sort and deliver the washer to the washer taking position. The assembly manipulator is used to obtain the core-pulling rivet and the washer from the rivet taking position and the washer taking position respectively, and assemble them into a rivet sealing rubber gasket assembly. A material receiving box is arranged below the rotating path of the assembly manipulator to receive the rivet sealing rubber gasket assembly.

Description

Technical Field

[0001] This utility model relates to an automated assembly device, and more particularly to an automated assembly device for rivet sealing gaskets. Background Technology

[0002] In current production processes, the assembly of gaskets and rivets is typically done manually. Specifically, operators need to manually pick up the gaskets and assemble them onto the rivets. Because the inner diameter of the gasket is smaller than the outer diameter of the rivet, and the two are in an interference fit, a large amount of force is required during assembly, leading to difficult operation and low efficiency.

[0003] Furthermore, this traditional manual assembly method is not only highly repetitive and labor-intensive, but also prone to inconsistent assembly quality due to human factors. With the expansion of production scale and the increasing demands for product quality, this inefficient manual operation mode has gradually become insufficient to meet the needs of modern manufacturing, while also resulting in high labor costs.

[0004] Therefore, there is an urgent need for a device that can automatically assemble blind rivets and sealing gaskets to replace traditional manual operations, improve assembly efficiency and consistency, and reduce production costs. Summary of the Invention

[0005] This invention addresses the shortcomings of existing technologies by providing an automatic assembly device for rivet sealing gaskets. This device automatically inserts blind rivets into sealing gaskets without manual intervention, achieving precise assembly. By feeding pre-prepared components from the storage hopper into the device and activating the operating switch, fully automated continuous assembly operations can be achieved, significantly improving work efficiency, saving substantial human resources, and promoting the mechanization and automation of the production process.

[0006] To achieve the above objectives, this utility model adopts the following technical solution: an automatic assembly device for rivet sealing gaskets, comprising a worktable, on which a rivet vibrating feeder, a washer vibrating feeder, and an assembly robot are mounted; wherein, the rivet vibrating feeder is used to sort and convey blind rivets to the rivet picking position; the washer vibrating feeder is used to sort and convey washers to the washer picking position; the assembly robot is used to obtain blind rivets and washers from the rivet picking position and the washer picking position respectively, and assemble them into a rivet sealing gasket assembly; a receiving box is provided below the rotation path of the assembly robot for receiving the assembled rivet sealing gasket assembly.

[0007] Furthermore, the rivet vibrating feeder includes a rivet feeding hopper; the rivet feeding hopper is connected to the rivet linear feeder through the rivet discharge channel, the rivet picking position is set at the end of the rivet linear feeder, a rivet detection sensor is installed in the middle of the rivet discharge channel, and a rivet positioning sensor is installed at the rivet picking position.

[0008] Furthermore, the washer vibrating feeder includes a washer feeding hopper, which is connected to the washer linear feeder via a washer discharge channel. The washer pick-up position is located at the end of the washer linear feeder. A washer detection sensor is installed in the middle of the washer discharge channel, and a washer positioning sensor is provided at the washer pick-up position.

[0009] Furthermore, the assembly robot includes a turntable cylinder, a mounting base plate, a compact slide cylinder, and a suction tube. The cylinder seat of the turntable cylinder is fixed to the worktable, the mounting base plate is fixed to the rotating part of the turntable cylinder, the L-shaped guide mechanism of the compact slide cylinder is mounted on the mounting base plate, the slide cylinder assembly consisting of the cylinder body and piston rod of the compact slide cylinder, and a mounting support fixedly connected to the cylinder body, which is used to fix the suction tube; the suction tube is driven to rise and fall by the compact slide cylinder, the suction tube is provided with a rubber sleeve, and is connected to the air circuit control system through an air pipe.

[0010] Furthermore, the assembly robot also includes an assembly robot positioning sensor, which is used to detect the position of the straw.

[0011] Furthermore, the initial position of the suction tube is directly above the rivet picking position. It is rotated to above the washer picking position by a turntable cylinder, and the suction tube is driven to descend by a compact slide cylinder to complete the assembly of the rivet and washer.

[0012] Furthermore, the rivet linear feeder adopts a vibration feeding mechanism.

[0013] Furthermore, the gasket linear feeder adopts a vibration feeding mechanism.

[0014] Furthermore, the automatic assembly device also includes a controller, which is electrically connected to the rivet vibratory feeder, the washer vibratory feeder, the assembly robot, and the pneumatic control system to coordinate the actions of each component.

[0015] Furthermore, the air circuit control system includes: an air source triplet, located at the air source inlet, used for filtering, regulating pressure, and lubricating compressed air; a first solenoid valve, connected to the turntable cylinder, used to control the rotation of the turntable cylinder; a second solenoid valve, connected to the compact slide cylinder, used to control the lifting and lowering of the compact slide cylinder; a third solenoid valve, connected to the vacuum generator and the suction tube, used to switch between vacuum adsorption and backflushing states of the suction tube; and a vacuum generator, used to provide negative pressure adsorption force to the suction tube under the control of the third solenoid valve.

[0016] Compared with the prior art, this utility model has the following advantages.

[0017] This utility model relates to an automatic assembly device for rivets and gaskets, which can automatically complete the assembly process of rivets and gaskets. It is easy to operate and can work 24 hours a day. This device can replace traditional manual assembly, successfully automating the assembly process of delicate tasks, significantly improving work efficiency and saving labor costs. Attached Figure Description

[0018] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. The scope of protection of the present invention is not limited to the following description.

[0019] Figure 1 This is a top view of the overall structure of the automatic assembly device for rivet sealing gaskets in the embodiment.

[0020] Figure 2-3 This is a perspective view of the overall structure of the automatic assembly device for rivet sealing gaskets in the embodiment.

[0021] Figure 4 This is a schematic diagram of the rivet vibratory feeder structure in the embodiment.

[0022] Figure 5 This is a schematic diagram of the washer vibrating feeder structure in the embodiment.

[0023] Figure 6-7 This is a schematic diagram of the assembly robot structure in the embodiment.

[0024] Figure 8 This is a schematic diagram of the assembly process of the robotic arm in the embodiment.

[0025] Figure 9 This is a schematic diagram of the gas path control principle in the embodiment.

[0026] Figure 10 This is a schematic diagram of the device's operation process in the embodiment.

[0027] In the diagram, 1 is the rivet vibratory feeder; 101 is the rivet hopper; 102 is the rivet discharge channel; 103 is the pull rivet; 104 is the rivet detection sensor; 105 is the rivet picking position; 106 is the rivet positioning sensor; 107 is the rivet linear feeder; and 108 is the sensor support.

[0028] 2 is the washer vibrating feeder; 201 is the washer feed hopper; 202 is the washer discharge channel; 203 is the washer; 204 is the washer detection sensor; 205 is the cover plate; 206 is the washer pick-up position; 207 is the washer linear feeder; 208 is the washer positioning sensor.

[0029] 3 is the assembly robot; 301 is the turntable cylinder; 302 is the mounting base plate; 303 is the compact slide cylinder; 304 is the mounting support; 305 is the suction tube; 306 is the rubber sleeve; 307 is the flared mouth; 308 is the air pipe; 309 is the assembly robot's positioning sensor; 30301 is the L-shaped guide mechanism; 30302 is the cylinder body; 30303 is the piston rod;

[0030] 4 is the receiving box; 401 is the air supply triplet; 402 is the first solenoid valve; 403 is the second solenoid valve; 404 is the third solenoid valve; 405 is the vacuum generator;

[0031] 5 represents the workbench. Detailed Implementation

[0032] like Figure 1-10 As shown, the embodiment of the automatic assembly device for rivet sealing gaskets includes a workbench 5, on which a rivet vibrating feeder 1, a washer vibrating feeder 2, and an assembly robot 3 are installed. The rivet vibrating feeder 1 is used to sort and convey the blind rivets 103 to the rivet picking position 105; the washer vibrating feeder 2 is used to sort and convey the washers 203 to the washer picking position 206; the assembly robot 3 is used to obtain the blind rivets 103 and washers 203 from the rivet picking position 105 and the washer picking position 206 respectively, and assemble them into a rivet sealing gasket assembly; a receiving box 4 is provided below the rotation path of the assembly robot 3 to receive the assembled rivet sealing gasket assembly.

[0033] Preferably, the rivet vibrating feeder 1 includes a rivet feed hopper 101; the rivet feed hopper 101 is connected to the rivet linear feeder 107 through the rivet discharge channel 102, the rivet picking position 105 is set at the end of the rivet linear feeder 107, a rivet detection sensor 104 is installed in the middle of the rivet discharge channel 102, and a rivet positioning sensor 106 is installed at the rivet picking position 105.

[0034] Preferably, the washer vibrating feeder 2 includes a washer feed hopper 201, which is connected to the washer linear feeder 207 via a washer discharge channel 202. The washer pick-up position 206 is located at the end of the washer linear feeder 207. A washer detection sensor 204 is installed in the middle of the washer discharge channel 202, and a washer positioning sensor 208 is provided at the washer pick-up position 206.

[0035] Preferably, the assembly robot 3 includes a turntable cylinder 301, a mounting base plate 302, a compact slide cylinder 303, and a suction tube 305. The cylinder seat of the turntable cylinder 301 is fixed on the worktable 5, and the mounting base plate 302 is fixed on the rotating part of the turntable cylinder 301. The L-shaped guide mechanism 30301 of the compact slide cylinder 303 is mounted on the mounting base plate 302. The slide cylinder assembly is composed of the cylinder body 30302 and the piston rod 30303 of the compact slide cylinder 303. The mounting support 304 is fixedly connected to the cylinder body 30302 and is used to fix the suction tube 305. The suction tube 305 is driven to rise and fall by the compact slide cylinder 303.

[0036] In Example 1, the straw 305 has a rubber sleeve 306 inside and is connected to the air circuit control system through the air tube 308. Furthermore, the inside of the straw's end is shaped like a flared mouth 307, making it easier to grasp the rivet 103.

[0037] Preferably, the assembly robot 3 further includes an assembly robot position sensor 309, which is used to detect the position of the straw 305.

[0038] Preferably, the suction tube 305 is initially positioned directly above the rivet picking position 105. It is rotated to above the washer picking position 206 by the turntable cylinder 301, and the suction tube 305 is driven to descend by the compact slide cylinder 303 to complete the assembly of the rivet and the washer.

[0039] Preferably, both the rivet linear feeder 107 and the washer linear feeder 207 adopt a vibratory feeding mechanism.

[0040] Preferably, the automatic assembly device further includes a controller, which is electrically connected to the rivet vibratory feeder 1, the washer vibratory feeder 2, the assembly robot 3 and the pneumatic control system, respectively, to coordinate the actions of each component.

[0041] Preferably, the air circuit control system includes: an air source triplet 401, located at the air source inlet, used for filtering, regulating pressure, and lubricating compressed air; a first solenoid valve 402, connected to the turntable cylinder 301, used to control the rotation of the turntable cylinder 301; a second solenoid valve 403, connected to the compact slide cylinder 303, used to control the lifting and lowering of the compact slide cylinder 303; and a third solenoid valve 404, connected to the vacuum generator 405 and the suction pipe 305, used to switch between vacuum adsorption and backflushing states of the suction pipe 305; the vacuum generator 405, under the control of the third solenoid valve 404, provides negative pressure adsorption force to the suction pipe 305. Speed ​​control valves are installed on the lines between the solenoid valves and their corresponding actuators.

[0042] A preferred embodiment of the automatic assembly device for rivet sealing gaskets is as follows:

[0043] I. Feeding Procedure: The operator places the core-pulling rivet 103 and the sealing washer 203 into the rivet feeder 101 and the washer feeder 201 respectively, connects the power supply, and starts the controller. The vibratory feeding system is then activated. The rivet passes through the rivet discharge channel 102 and is vibrated and sorted before entering the rivet linear feeder 107, while the washer passes through the washer discharge channel 202 and enters the washer linear feeder 207. During this process, the rivet detection sensor 104 and the washer detection sensor 204 monitor the material conveying status to ensure continuous feeding.

[0044] II. Positioning and gripping steps: When the core-pulling rivet reaches the rivet picking position 105 (confirmed by the rivet positioning sensor 106) and the washer reaches the washer picking position 206 (confirmed by the washer positioning sensor 208), the assembly robot 3 is started.

[0045] In the initial stage, the turntable cylinder 301 positions the suction pipe 305 directly above the rivet picking position 105. The compact slide cylinder 303 drives the suction pipe to descend. The air circuit control system switches the vacuum generator 405 via the third solenoid valve 404. The rubber sleeve 306 inside the suction pipe uses negative pressure to attract the core-pulling rivet. In the rotary station conversion stage, the first solenoid valve 402 controls the turntable cylinder 301 to rotate 90°, moving the suction pipe and rivet above the washer picking position 206.

[0046] III. Assembly and Unloading Steps: The compact slide cylinder 303 descends again, and the suction tube presses the core-pulling rivet into the washer to complete the assembly. After the assembly robot's positioning sensor 309 verifies the action, the third solenoid valve 404 switches to the backflush state to release the component, and the finished product falls freely into the receiving box 4. The turntable cylinder 301 resets, and the next cycle begins.

[0047] Throughout the process, the controller, in coordination with the vibratory feeder, sensor signals, and pneumatic components (first to third solenoid valves and a vacuum generator), automates the entire process from feeding, positioning, gripping, assembly to unloading. The system requires only initial loading and startup, eliminating the need for manual intervention and significantly improving assembly efficiency and consistency. This process ensures high reliability through vibration sequencing, robotic arm collaboration, and pneumatic-electric linkage, making it suitable for mass production scenarios.

[0048] Another preferred embodiment, the composition and working process of the automatic assembly device for rivet sealing gaskets:

[0049] I. Material Feeding Unit Description:

[0050] 1. Rivet Feeding Unit: After being vibrated and shaped by the rivet feeder 101, the core-pulling rivet 103 enters the rivet discharge channel 102. The rivet detection sensor 104 monitors the rivet passage status in the channel in real time and counts them. The rivet linear feeder 107 drives the rivet to the picking position 105 through vibration. After the rivet positioning sensor 106 detects the positioning signal, it stops feeding and sends a feedback signal to the controller.

[0051] 2. Washer feeding unit: Washers 203 are vibrated and sorted by the washer feed hopper 201 and then enter the washer discharge channel 202. The washer detection sensor 204 completes the passing detection and counting. The washer linear feeder 207 transports the washers to the picking position 206. The feeding stops after the washer arrival sensor 208 is triggered.

[0052] II. In the positioning unit, the linear feeders (107, 207) vibrate continuously under the control of the controller until the rivets and washers reach the picking positions (105, 206) respectively. The position sensors (106, 208) detect the position in real time. If the position is not reached, the feeder continues to supply material. Once the position is reached, a stop command is sent and the assembly robot 3 is triggered to move.

[0053] Third, in the assembly of the robotic arm unit, material is picked up. The initial position of the turntable cylinder 301 positions the suction tube 305 directly above the rivet picking position 105. The compact slide cylinder 303 drives the suction tube to descend, and the vacuum generator 405 evacuates the rubber sleeve 306 inside the suction tube through the air pipe 308. After the rivet is adsorbed, the slide cylinder resets.

[0054] During the rotational alignment operation, the first solenoid valve 402 controls the turntable cylinder 301 to rotate 90°, moving the suction tube to the washer picking position 206. After the assembly robot's positioning sensor 309 verifies the position, the slide cylinder descends a second time, and the rivet rod is pressed into the center hole of the washer to complete the assembly.

[0055] During unloading, the turntable cylinder 301 continues to rotate above the receiving box 4, and the third solenoid valve 404 switches to the backflushing state, releasing the component into the receiving box. The robotic arm resets to the rivet picking position, entering the next assembly cycle.

[0056] IV. The pneumatic control system provides filtered and pressure-regulated compressed air through the air source triplet 401, and realizes the timing control of the robot's actions through the first solenoid valve 402 (rotation of the turntable cylinder), the second solenoid valve 403 (lifting and lowering of the slide cylinder), and the third solenoid valve 404 (vacuum adsorption / backflush switching).

[0057] 5. The controller integrates signals from various sensors (rivet / washer positioning detection, robot position feedback) and dynamically adjusts the vibration feeding, robot movement and pneumatic circuit status to achieve fully automatic closed-loop operation from feeding, positioning, assembly to unloading, without the need for manual intervention.

[0058] Example 2: The PLC control flow is as follows:

[0059] Step 1, System power-on and initialization operations are as follows:

[0060] After the PLC is powered on, it first performs a system self-test, checking all sensors (including rivet detection sensor 104, washer detection sensor 204, rivet positioning sensor 106, washer positioning sensor 208, and assembly robot positioning sensor 309) and the air source pressure status. After confirming that the system is normal, the PLC controls the actuator to reset: the turntable cylinder 301 is rotated to the initial zero position (directly above the rivet picking position), the slide cylinder 303 is raised to the upper limit position, and the vacuum generator 405 is turned off.

[0061] Step 2: The PLC simultaneously starts the rivet vibratory feeder 1 and the washer vibratory feeder 2. The rivets are conveyed through the rivet discharge channel 102, and the washers are conveyed through the washer discharge channel 202. During this process, the rivet detection sensor 104 and the washer detection sensor 204 monitor the material conveying.

[0062] Step 3: When the rivet is conveyed to the rivet pick-up position 105, the rivet positioning sensor 106 is triggered, and the PLC stops the rivet vibrating feeder 1. Similarly, when the washer reaches the washer pick-up position 206, the washer positioning sensor 208 is triggered, and the PLC stops the washer vibrating feeder 2.

[0063] Step 4: At this point, the PLC controls the slide cylinder 303 to descend, the second solenoid valve 403 is energized, and the slide cylinder drives the suction tube 305 downward to the rivet picking position. When the suction tube reaches the lower limit, the PLC starts vacuum adsorption: the third solenoid valve 404 is energized, the vacuum generator 405 works, and the suction tube 305 generates negative pressure to firmly adsorb the rivet. After maintaining the adsorption state for a certain period of time to fix the rivet, the PLC controls the slide cylinder 303 to rise (the second solenoid valve 403 is de-energized).

[0064] Step 5: The PLC controls the rotation of the turntable cylinder 301, energizing the first solenoid valve 402. The turntable rotates 90°, moving the suction tube 305 directly above the washer station. When the turntable reaches its position, the assembly robot's positioning sensor 309 is triggered.

[0065] Step 6: The PLC controls the slide cylinder 303 to descend again, the second solenoid valve 403 is energized, and the suction tube 305 drives the rivet downward, pressing the rivet into the center hole of the washer to complete the assembly. When the assembly is in place, the magnetic switch sends a signal, the PLC shuts off the vacuum adsorption (the third solenoid valve 404 is de-energized), so that the assembled component is held on the suction tube.

[0066] Step 7: The PLC controls the slide cylinder 303 to rise, the second solenoid valve 403 is de-energized, and the cylinder returns to its upper limit position. Then, the PLC controls the turntable cylinder 301 to continue rotating 90°, while the first solenoid valve 402 remains energized, moving the assembled component directly above the receiving box 4. Upon reaching the position, the PLC controls the third solenoid valve 404 to reverse the energization, and compressed air blows the component down into the receiving box, completing the unloading process.

[0067] Step 8: Complete the system reset. The PLC controls the turntable cylinder 301 to rotate 180°, the first solenoid valve 402 is de-energized, and the turntable returns to its initial zero position (directly above the rivet picking position). At this point, the system has completed a full work cycle and is ready to begin the next assembly process.

[0068] In other words, a stable air supply is provided through a filter, pressure reducing valve, and pressure gauge. The gas is controlled by a solenoid valve and speed control valve to drive the turntable cylinder and slide cylinder. The turntable cylinder and slide cylinder use magnetic switches to detect whether they have reached the designated position and send a signal to the PLC for the next instruction. The suction tube on the assembly robot arm uses a solenoid valve and vacuum generator to control the gas pressure and flow, sucking in the rivets and rotating them to the corresponding positions on the washers to insert them, thus completing the entire assembly process quickly and accurately.

[0069] It is understood that the above specific description of this utility model is only used to illustrate this utility model and is not limited to the technical solutions described in the embodiments of this utility model. Those skilled in the art should understand that modifications or equivalent substitutions can still be made to this utility model to achieve the same technical effect; as long as the use needs are met, they are all within the protection scope of this utility model.

Claims

1. An automatic assembly device for a sealant bead for rivets, characterized in that, The rivet vibration feeder (1) is used for sorting and conveying the hollow rivet (103) to the rivet taking position (105); the gasket vibration feeder (2) is used for sorting and conveying the gasket (203) to the gasket taking position (206); The assembly mechanical hand (3) is used for taking the hollow rivet (103) and the gasket (203) from the rivet taking position (105) and the gasket taking position (206) respectively, and assembling the two into a rivet sealing rubber gasket assembly. The rotating path of the assembly mechanical hand (3) is provided with a material receiving box (4) below, which is used for receiving the rivet sealing rubber gasket assembly after assembly.

2. The rivet caulk automatic assembly apparatus according to claim 1, wherein The rivet vibration feeder (1) comprises a rivet feeding hopper (101); the rivet feeding hopper (101) is connected with a rivet linear feeder (107) through a rivet discharging channel (102), the rivet taking position (105) is arranged at the end of the rivet linear feeder (107), the rivet discharging channel (102) is provided with a rivet detection sensor (104) at the middle part, and the rivet taking position (105) is provided with a rivet in-place sensor (106).

3. The rivet caulk automatic assembly apparatus according to claim 1, wherein The gasket vibration feeder (2) comprises a gasket feeding hopper (201), the gasket feeding hopper (201) is connected with a gasket linear feeder (207) through a gasket discharging channel (202), and the gasket taking position (206) is arranged at the end of the gasket linear feeder (207); the gasket discharging channel (202) is provided with a gasket detection sensor (204) at the middle part, and the gasket taking position (206) is provided with a gasket in-place sensor (208).

4. The rivet caulk automatic assembly apparatus according to claim 1, wherein The assembly mechanical hand (3) comprises a rotary table cylinder (301), a mounting bottom plate (302), a compact slide cylinder (303) and a suction pipe (305), the cylinder base of the rotary table cylinder (301) is fixed on the workbench (5), the mounting bottom plate (302) is fixed on the rotating part of the rotary table cylinder (301), the L-shaped guide mechanism (30301) of the compact slide cylinder (303) is mounted on the mounting bottom plate (302), the slide cylinder assembly composed of the cylinder body (30302) and the piston rod (30303) of the compact slide cylinder (303), and the mounting support (304) is fixedly connected with the cylinder body (30302), and the mounting support (304) is used for fixing the suction pipe (305); the suction pipe (305) is driven to ascend and descend by the compact slide cylinder (303), the suction pipe (305) is provided with a rubber sleeve (306) and is connected with a gas path control system through a gas pipe (308).

5. The rivet caulk automatic assembly apparatus according to claim 4, wherein The assembly mechanical hand (3) further comprises an assembly mechanical hand in-place sensor (309), which is used for detecting the position of the suction pipe (305).

6. The rivet caulk automatic assembly apparatus according to claim 4, wherein The suction tube (305) is initially located directly above the rivet taking position (105), is rotated to above the gasket taking position (206) by the rotary table cylinder (301), and is driven to descend by the compact slide cylinder (303) to complete the assembly of the rivet and the gasket.

7. The rivet caulk automatic assembly apparatus according to claim 2, wherein The rivet linear feeder (107) adopts a vibration type feeding mechanism.

8. The rivet caulk automatic assembly apparatus according to claim 3, wherein The gasket linear feeder (207) adopts a vibration type feeding mechanism.

9. The device for automatic assembly of rivet seal gaskets according to any one of claims 1 to 8, characterized in that, The automatic assembly device further comprises a controller which is electrically connected with the rivet vibration feeder (1), the gasket vibration feeder (2), the assembly manipulator (3) and the gas circuit control system respectively.

10. The rivet caulk automatic assembly apparatus according to claim 1, wherein The gas circuit control system comprises: An air source triad (401) is arranged at an air source inlet and is used for filtering, pressure regulating and lubricating compressed air; A first electromagnetic valve (402) is connected with the rotary table cylinder (301) and is used for controlling the rotary action of the rotary table cylinder (301); A second electromagnetic valve (403) is connected with the compact slide cylinder (303) and is used for controlling the lifting action of the compact slide cylinder (303); A third electromagnetic valve (404) is connected with the vacuum generator (405) and the suction tube (305) and is used for switching the vacuum adsorption and back blowing states of the suction tube (305); The vacuum generator (405) is used for providing negative pressure adsorption force for the suction tube (305) under the control of the third electromagnetic valve (404).

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