Flexible positioning gripper and servo switching table thereof

Abstract

This utility model relates to the field of automotive manufacturing technology, and more specifically, to a flexible positioning gripper and its servo switching platform. The gripper includes a handling robot, a gripper quick switching device, and a gripping device. The gripping device includes a main frame and a three-axis positioning mechanism mounted on the main frame. The output end of the three-axis positioning mechanism is equipped with a positioning locking component. The three-axis positioning mechanism drives the positioning locking component to move along a first direction, a second direction perpendicular to the first direction, and a third direction perpendicular to both the first and second directions. The gripper quick switching device includes a first connecting component connected to the output end of the handling robot and a second connecting component connected to the main frame. The first and second connecting components are detachably connected. This flexible positioning gripper achieves three-axis movement by driving the positioning locking component through the three-axis positioning device, thereby achieving flexible transformation to adapt to gripping different vehicle body models, reducing gripper switching time, and avoiding the problem of excessive space occupation by the gripper.

Description

Technical Field

[0001] This utility model relates to the field of automobile manufacturing technology, and more specifically, to a flexible positioning gripper and its servo switching platform. Background Technology

[0002] With the increasing demand for personalized automobiles and the growth in production and sales, on the one hand, the production lines are producing more and more car models, and the grippers for different car models are becoming more diversified. This results in a large number of grippers being stored around the robot, leading to a smaller robot activity range, a larger interference zone, and a higher risk of robot collisions. On the other hand, due to the limited gripper storage space on the production line, some grippers can only be stored at the edge of the line. During the switching process, operators need to push the grippers outside the line to the gripper switching position, resulting in long switching time and low switching efficiency for grippers at the line edge. Existing handling grippers are car model-specific and can only meet the needs of a single car model, not multiple car models that can be shared. Utility Model Content

[0003] The purpose of this invention is to overcome the problem that existing handling grippers are vehicle-specific and can only meet the needs of a single vehicle model, and cannot be used by multiple vehicle models. This invention provides a flexible positioning gripper that can be switched according to the different vehicle models to be gripped, thereby adapting to the gripping of different vehicle models.

[0004] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is as follows: A flexible positioning gripper is provided, including a transport robot, a gripper quick switching device, and a gripping device. The gripping device includes a main frame and a plurality of three-axis positioning mechanisms disposed on the main frame. The output end of each three-axis positioning mechanism is provided with a positioning locking member for connection with the vehicle body. The three-axis positioning mechanism is used to drive the positioning locking member to move along a first direction, a second direction perpendicular to the first direction, and a third direction perpendicular to both the first and second directions. The gripper quick switching device includes a first connecting member connected to the output end of the transport robot and a second connecting member connected to the main frame. The first connecting member and the second connecting member are detachably connected.

[0005] This utility model discloses a flexible positioning gripper. Upon identifying the type of car on the production line, a transport robot moves its gripping device to grasp the car body. After receiving the car model signal, the gripping device activates a three-axis positioning mechanism. This mechanism, through movement in three mutually perpendicular directions, flexibly changes the position of the positioning locking component, aligning it with the positioning holes on the target car body. The positioning locking component then engages, locking the car body onto the gripping device. The transport robot then moves the gripping device to transport the car body. For gripping specific car bodies, or when introducing a new car model to the production line, the gripping device and transport robot can be separated by disassembling the first and second connecting parts. A gripping device for the new car model can then be replaced and reinstalled on the transport robot. This process is convenient, saves time, and facilitates future maintenance of the gripping device. This flexible positioning gripper achieves three-axis movement through the three-axis positioning device driving the positioning locking component, enabling flexible adaptation to gripping different car body models, reducing gripper switching time, and avoiding the problem of excessive space occupation by the gripper.

[0006] Furthermore, the first connector is provided with an annular protrusion, and a plurality of locking elements are provided on the outer side of the protrusion. The second connector is provided with a retaining ring, and the annular protrusion is installed inside the retaining ring. The locking elements are used to lock the second connector. By installing the annular protrusion inside the retaining ring and then locking the locking elements, the first connector and the second connector can be fixed together.

[0007] Furthermore, the clamping component is a pneumatic steel ball, which is slidably connected to the annular protrusion and slides radially along the annular protrusion. A steel ball holder is provided on the inner cylindrical surface of the retaining ring, and the steel ball holder is used to engage with the pneumatic steel ball. When the annular protrusion is installed inside the retaining ring, the pneumatic drive device is activated. Driven by the pneumatic drive device, the pneumatic steel ball slides radially outward along the annular protrusion, protruding from the outer surface of the annular protrusion. The pneumatic steel ball engages with the steel ball holder, achieving a locking effect. This locking provides a good fixation effect and prevents the ball from easily coming loose.

[0008] Furthermore, the three-axis positioning unit includes a first slide rail disposed along a first direction on the main frame, a first connecting plate slidably connected to the first slide rail, a second slide rail disposed along a second direction on the first connecting plate, a second connecting plate slidably connected to the second slide rail, a third slide rail disposed along a third direction on the second connecting plate, and a third connecting plate slidably connected to the third slide rail. The positioning locking component includes a positioning cylinder fixed to the third connecting plate and a positioning pin disposed at the output end of the positioning cylinder.

[0009] Furthermore, the positioning cylinder is used to drive the positioning pin to move along the third direction.

[0010] Furthermore, the gripping device also includes several clamping units. Each clamping unit includes a clamping drive fixed to the main frame and a clamping member connected to the output end of the clamping drive. The clamping member moves along the third direction. When the positioning pin is locked with the positioning hole on the vehicle body, the clamping drive will drive the clamping member to clamp the vehicle body, providing more support for the vehicle body and maintaining its stability during transportation.

[0011] Furthermore, the third connecting plate is provided with a drag ring, and the first, second, and third connecting plates are respectively provided with a first guide rail lock for locking the first slide rail, a second guide rail lock for locking the second slide rail, and a third guide rail lock for locking the third slide rail. The first guide rail lock, the second guide rail lock, and the third guide rail lock are locked to the first slide rail, the second slide rail, and the third slide rail respectively by the friction force during clamping, thereby fixing the position of the positioning locking member.

[0012] A servo switching platform is used for a flexible positioning gripper, comprising a platform and a three-axis drive mechanism disposed on top of the platform. The number of three-axis drive mechanisms is equal to the number of three-axis positioning mechanisms. The output end of each three-axis drive mechanism is provided with a hook for connection to a towing ring. The three-axis drive mechanism drives the hook to move along a first direction, a second direction perpendicular to the first direction, and a third direction perpendicular to both the first and second directions. When the flexible positioning gripper needs to switch vehicle models, the towing ring of the flexible positioning gripper connects to the hook of the switching platform. Subsequently, a first guide rail lock, a second guide rail lock, and a third guide rail lock are unlocked. Driven by the three-axis drive mechanism, the hook moves along the first, second, and third directions. Therefore, the positioning locking component is also driven to move along the first, second, and third directions. When the positioning locking component is in place, the first, second, and third guide rail locks are locked. Then, the hook and the towing ring are unlocked, completing the vehicle model switching. A separate switching station is provided, eliminating the need to integrate the switching device into the gripper, which greatly reduces the weight of the flexible positioning gripper and lowers the load on the handling robot.

[0013] Furthermore, the three-axis drive mechanism includes a first mounting plate fixed to the top of the platform, a first drive member and a first transmission mechanism fixed to the first mounting plate, a second mounting plate fixed to the output end of the first transmission mechanism, a second drive member and a second transmission mechanism fixed to the second mounting plate, a third mounting plate fixed to the output end of the second transmission mechanism, a third drive member and a third transmission mechanism fixed to the third mounting plate, the output end of the first drive member being connected to the input end of the first transmission mechanism, the output end of the second drive member being connected to the input end of the second transmission mechanism, and the output end of the third drive member being connected to the input end of the third transmission mechanism.

[0014] Furthermore, the first transmission mechanism, the second transmission mechanism, and the third transmission mechanism are all lead screw transmission mechanisms. Lead screw transmission is more precise and provides more accurate switching and positioning.

[0015] Compared with the prior art, the beneficial effects of this utility model are: 1. This flexible positioning gripper achieves three-axis movement by driving the positioning locking component through a three-axis positioning device, thereby realizing flexible transformation, adapting to the gripping of different vehicle body models, reducing gripper switching time, and avoiding the problem of excessive space occupation by the gripper. 2. The clamping drive will drive the clamping components to press against the vehicle body, providing more support to the vehicle body and maintaining the stability of the vehicle body during transportation; 3. A separate switching station is provided, eliminating the need to integrate the switching device into the gripper, which greatly reduces the weight of the flexible positioning gripper and lowers the load on the handling robot. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of a flexible positioning gripper; Figure 2 This is a schematic diagram of the connection structure between the first connector and the second connector. Figure 3 This is a schematic diagram of the structure of the first connector; Figure 4 This is a schematic diagram of the second connector. Figure 5 A schematic diagram of the gripping device. Figure 6 This is a schematic diagram of the three-axis positioning mechanism; Figure 7 A schematic diagram of the structure of the first slide rail and the first guide rail lock; Figure 8 This is a schematic diagram of the clamping unit. Figure 9 This is a schematic diagram of a servo switcher. Figure 10 This is a schematic diagram of a three-axis drive mechanism.

[0017] In the attached diagram: 100, handling robot; 200, gripper quick switching device; 210, first connecting member; 211, annular protrusion; 220, second connecting member; 221, retaining ring; 222, steel ball holder; 230, clamping member; 231, pneumatic steel ball; 300, gripping device; 310, main frame; 320, three-axis positioning mechanism; 321, first slide rail; 322, first connecting plate; 323, second slide rail; 324, second connecting plate; 325, third slide rail; 326, third connecting plate; 327, drag ring; 328. First guide rail lock; 330. Positioning locking component; 331. Positioning cylinder; 332. Positioning pin; 340. Pressing unit; 341. Pressing drive component; 342. Pressing component; 400. Platform; 500. Three-axis drive mechanism; 510. First mounting plate; 511. First drive component; 512. First transmission mechanism; 520. Second mounting plate; 521. Second drive component; 522. Second transmission mechanism; 530. Third mounting plate; 531. Third drive component; 532. Third transmission mechanism; 533. Hook. Detailed Implementation

[0018] The present invention will be further described below with reference to specific embodiments. The accompanying drawings are for illustrative purposes only, representing schematic diagrams rather than actual physical objects, and should not be construed as limiting the scope of this patent. To better illustrate the embodiments of the present invention, some components in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0019] In the accompanying drawings of this utility model, the same or similar reference numerals correspond to the same or similar components. In the description of this utility model, it should be understood that if terms such as "upper," "lower," "left," and "right" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting this patent. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0020] In this utility model, unless otherwise explicitly specified and limited, the terms "connection," "fixed," and "fitting" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0021] In the description of this specification, references to terms such as "embodiment" indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0022] Example 1 This embodiment provides a flexible positioning gripper, such as Figure 1 As shown, it includes a handling robot 100, a gripper quick-switching device 200, and a gripping device 300, such as Figure 5 As shown, the gripping device 300 includes a main frame 310 and two grippers disposed on the main frame 310. Figure 5 The three-axis positioning mechanism 320 shown has an output end equipped with a positioning locking member 330 for connection with the vehicle body. The positioning locking member 330 is a hook pin. The three-axis positioning mechanism 320 is used to drive the positioning locking member 330 to move along a first direction, a second direction perpendicular to the first direction, and a third direction perpendicular to both the first and second directions. Figure 2 As shown, the gripper quick switching device 200 includes a first connector 210 connected to the output end of the handling robot 100 and a second connector 220 connected to the main frame 310, as follows: Figure 3 As shown, the first connector 210 is provided with an annular protrusion 211, and a plurality of clamping elements 230 are provided on the outer side of the protrusion. In this embodiment, the clamping elements 230 are pneumatic steel balls 231, such as... Figure 4As shown, the second connector 220 is provided with a retaining ring 221, an annular protrusion 211 is installed inside the retaining ring 221, and a clamping member 230 is used to lock the second connector 220. The pneumatic steel ball 231 is slidably connected to the annular protrusion 211 and the sliding direction is along the radial direction of the annular protrusion 211. The inner cylindrical surface of the retaining ring 221 is provided with a steel ball holder 222 corresponding to the pneumatic steel ball 231, and the steel ball holder 222 is used to engage with the pneumatic steel ball 231.

[0023] The working principle of this embodiment is as follows: This utility model discloses a flexible positioning gripper. Upon identifying the type of car on the production line, the handling robot 100 moves the gripping device 300 to grasp the car body. After receiving the car model signal, the gripping device 300 activates two three-axis positioning mechanisms 320. These mechanisms move in three mutually perpendicular directions, flexibly changing the position of the positioning locking member 330 so that it aligns with the positioning holes on the target car body. The positioning locking member 330 then locks the car body onto the gripping device 300. The handling robot 100 then moves the gripping device 300 to move the car body, thus achieving the transfer of the vehicle body. This design is useful for gripping special car bodies or when a new car model is introduced to the production line. The gripping device 300 and the handling robot 100 can be separated by disassembling the first connector 210 and the second connector 220. Then, the gripping device 300 for the new vehicle model can be replaced and reinstalled on the handling robot 100. Disassembly is convenient and saves time. It also facilitates the later maintenance of the gripping device 300. When assembling the first connector 210 and the second connector 220, the annular protrusion 211 is installed in the retaining ring 221. Then, the pneumatic drive device is started. Under the drive of the pneumatic drive device, the pneumatic steel ball 231 will slide outward along the radial direction of the annular protrusion 211 and protrude from the outer side of the annular protrusion 211. The pneumatic steel ball 231 is engaged with the steel ball holder 222 to achieve locking.

[0024] The beneficial effects of this utility model are as follows: The flexible positioning gripper achieves three-axis movement by driving the positioning locking component 330 through a three-axis positioning device, thereby realizing flexible transformation to adapt to the gripping of different vehicle models, reducing the gripper switching time, and avoiding the problem of excessive space occupation by the cutting hand. The cooperation and locking between the pneumatic steel ball 231 and the steel ball holder 222 has a good fixing effect and is not easy to fall out.

[0025] Example 2 This embodiment is a second embodiment of a flexible positioning gripper. This embodiment is similar to the first embodiment, except that, as shown in the following... Figure 5 As shown, the gripping device 300 also includes nine clamping units 340, with three clamping units 340 forming a group to support a vehicle model, such as... Figure 6As shown, the three-axis positioning unit includes a first slide rail 321 disposed along a first direction on the main frame 310, a first connecting plate 322 slidably connected to the first slide rail 321, a second slide rail 323 disposed along a second direction on the first connecting plate 322, a second connecting plate 324 slidably connected to the second slide rail 323, a third slide rail 325 disposed along a third direction on the second connecting plate 324, and a third connecting plate 326 slidably connected to the third slide rail 325. The positioning locking member 330 includes a positioning cylinder 331 fixed to the third connecting plate 326 and a positioning pin 332 disposed at the output end of the positioning cylinder 331. The positioning cylinder 331 is used to drive the positioning pin 332 to move along a third direction.

[0026] like Figure 8 As shown, each clamping module includes a clamping drive 341 fixed to the main frame 310 and a clamping component 342 connected to the output end of the clamping drive 341. The clamping component 342 moves in a third direction. In this embodiment, the clamping drive 341 is a cylinder, but it can also be a linear drive such as a linear motor. A drag ring 327 is fixed to the third connecting plate 326. Figure 7 As shown, the first connecting plate 322, the second connecting plate 324 and the third connecting plate 326 are respectively provided with a first guide rail lock 328 for locking the first slide rail 321, a second guide rail lock for locking the second slide rail 323 and a third guide rail lock for locking the third slide rail 325.

[0027] The beneficial effects of this utility model are as follows: Once the positioning pin 332 is locked with the positioning hole on the vehicle body, the clamping drive component 341 will drive the clamping component 342 to clamp the vehicle body, providing more support for the vehicle body and maintaining the stability of the vehicle body during transportation.

[0028] The remaining working principles of this embodiment are the same as those of Embodiment 1.

[0029] Example 3 This embodiment is a first embodiment of a servo switcher, such as... Figure 9 As shown, a flexible positioning gripper for use in either Embodiment 1 or Embodiment 2 includes a platform 400 and two three-axis drive mechanisms 500 disposed on the top of the platform 400. The output end of each three-axis drive mechanism 500 is provided with a hook 533 for connection to a drag ring 327. The three-axis drive mechanism 500 drives the hook 533 to move along a first direction, a second direction perpendicular to the first direction, and a third direction perpendicular to both the first and second directions. Figure 10As shown, the three-axis drive mechanism 500 includes a first mounting plate 510 fixed to the top of the platform 400, a first drive member 511 and a first transmission mechanism 512 fixed to the first mounting plate 510, a second mounting plate 520 fixed to the output end of the first transmission mechanism 512, a second drive member 521 and a second transmission mechanism 522 fixed to the second mounting plate 520, a third mounting plate 530 fixed to the output end of the second transmission mechanism 522, and a third drive member 531 and a third transmission mechanism 532 fixed to the third mounting plate 530. The output end of the first drive member 511 is connected to the input end of the first transmission mechanism 512, the output end of the second drive member 521 is connected to the input end of the second transmission mechanism 522, and the output end of the third drive member 531 is connected to the input end of the third transmission mechanism 532. In this embodiment, the first drive member 511, the second drive member 521, and the third drive member 531 are all motors, and the first transmission mechanism 512, the second transmission mechanism 522, and the third transmission mechanism 532 are all lead screw transmission mechanisms.

[0030] The working principle of this embodiment is as follows: When the flexible positioning gripper needs to switch vehicle models, the drag ring 327 of the flexible positioning gripper connects to the hook 533 of the switching platform. Then, the first guide rail lock 328, the second guide rail lock, and the third guide rail lock are unlocked. Driven by the three-axis drive mechanism 500, the hook 533 moves along the first, second, and third directions. Therefore, the positioning locking member 330 is also driven to move along the first, second, and third directions. When the positioning locking member 330 moves into place, the first guide rail lock 328, the second guide rail lock, and the third guide rail lock will lock. Then, the hook 533 and the drag ring 327 are unlocked, completing the vehicle model switching.

[0031] The beneficial effects of this embodiment are as follows: A separate switching station is provided, eliminating the need to integrate the switching device into the gripper, which greatly reduces the weight of the flexible positioning gripper and lowers the load on the handling robot 100.

[0032] The remaining working principles of this embodiment are the same as those of Embodiment 1 or Embodiment 2.

[0033] In the specific implementation of the above embodiments, the technical features can be combined in any non-contradictory way. For the sake of brevity, not all possible combinations of the above technical features are described. However, as long as the combination of these technical features is not contradictory, it should be considered to be within the scope of this specification.

[0034] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating this utility model, and are not intended to limit the implementation of this utility model. Those skilled in the art can make various variations or modifications based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A flexible positioning gripper, characterized in that, The device includes a transport robot (100), a gripper quick-switching device (200), and a gripping device (300). The gripping device (300) includes a main frame (310) and a plurality of three-axis positioning mechanisms (320) disposed on the main frame (310). The output end of the three-axis positioning mechanism (320) is provided with a positioning locking member (330) for connecting to the vehicle body. The three-axis positioning mechanism (320) is used to drive the positioning locking member (330) to move along a first direction, a second direction perpendicular to the first direction, and a third direction perpendicular to the first direction and the second direction. The gripper quick-switching device (200) includes a first connector (210) connected to the output end of the transport robot (100) and a second connector (220) connected to the main frame (310). The first connector (210) and the second connector (220) are detachably connected.

2. A flexible positioning gripper according to claim 1, characterized in that The first connector (210) is provided with an annular protrusion (211), and a plurality of locking members (230) are provided on the outer side of the protrusion. The second connector (220) is provided with a retaining ring (221), and the annular protrusion (211) is installed in the retaining ring (221). The locking members (230) are used to lock the second connector (220).

3. A flexible positioning gripper according to claim 2, wherein, The clamping component (230) is a pneumatic steel ball (231). The pneumatic steel ball (231) is slidably connected to the annular protrusion (211) and the sliding direction is along the radial direction of the annular protrusion (211). The inner cylindrical surface of the retaining ring (221) is provided with a steel ball retainer (222), which is used to engage with the pneumatic steel ball (231).

4. A compliant positioning gripper as claimed in claim 1, wherein, The three-axis positioning mechanism (320) includes a first slide rail (321) disposed on the main frame (310) along a first direction, a first connecting plate (322) slidably connected to the first slide rail (321), a second slide rail (323) disposed on the first connecting plate (322) along a second direction, a second connecting plate (324) slidably connected to the second slide rail (323), a third slide rail (325) disposed on the second connecting plate (324) along a third direction, and a third connecting plate (326) slidably connected to the third slide rail (325). The positioning locking member (330) includes a positioning cylinder (331) fixed to the third connecting plate (326) and a positioning pin (332) disposed at the output end of the positioning cylinder (331).

5. A flexible positioning gripper according to claim 4, wherein, The positioning cylinder (331) is used to drive the positioning pin (332) to move along the third direction.

6. A flexible positioning gripper according to claim 5, wherein, The gripping device (300) further includes several clamping units (340), each clamping unit (340) including a clamping drive (341) fixed to the main frame (310) and a clamping member (342) connected to the output end of the clamping drive (341), the clamping member (342) moving in the direction of the third direction.

7. A compliant positioning gripper as claimed in claim 4, wherein, The third connecting plate (326) is provided with a drag ring (327). The first connecting plate (322), the second connecting plate (324) and the third connecting plate (326) are respectively provided with a first guide rail lock (328) for locking the first slide rail (321), a second guide rail lock for locking the second slide rail (323) and a third guide rail lock for locking the third slide rail (325).

8. A servo switcher for use with the flexible positioning gripper as described in claim 7, characterized in that, The system includes a platform (400) and a three-axis drive mechanism (500) disposed on the top of the platform (400). The number of the three-axis drive mechanisms (500) is equal to the number of the three-axis positioning mechanisms (320). The output end of the three-axis drive mechanism (500) is provided with a hook (533) for connecting with the drag ring (327). The three-axis drive mechanism (500) is used to drive the hook (533) to move along a first direction, a second direction perpendicular to the first direction, and a third direction perpendicular to both the first and second directions.

9. A servo switcher according to claim 8, characterized in that, The three-axis drive mechanism (500) includes a first mounting plate (510) fixed to the top of the platform (400), a first drive member (511) and a first transmission mechanism (512) fixed to the first mounting plate (510), a second mounting plate (520) fixed to the output end of the first transmission mechanism (512), a second drive member (521) and a second transmission mechanism (522) fixed to the second mounting plate (520), a third mounting plate (530) fixed to the output end of the second transmission mechanism (522), a third drive member (531) and a third transmission mechanism (532) fixed to the third mounting plate (530), the output end of the first drive member (511) is connected to the input end of the first transmission mechanism (512), the output end of the second drive member (521) is connected to the input end of the second transmission mechanism (522), and the output end of the third drive member (531) is connected to the input end of the third transmission mechanism (532).

10. A servo switcher according to claim 9, characterized in that, The first transmission mechanism (512), the second transmission mechanism (522) and the third transmission mechanism (532) are all lead screw transmission mechanisms.

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