A compatible robot palletizer tooling

Abstract

The utility model relates to a kind of compatible robot stacking tool, including machining platform component and feeding and discharging carrying mechanical arm component;The number of machining platform component is two and is arranged side by side along left and right direction, and one feeding and discharging carrying mechanical arm component is installed in the front and back two sides of machining platform component, and one turnover component is installed between two machining platform components.The utility model is arranged in parallel with double machining platform, cooperate the feeding and discharging carrying mechanical arm component of front and back two sides, realize the parallel processing of workpiece, and the production efficiency is improved by more than 50% compared with single platform design.Two machining platforms can be handled different processes respectively, workpiece transfer is realized by intermediate turnover component, and complete production closed loop is formed.

Description

Technical Field

[0001] This utility model relates to the field of mechanical processing technology, and in particular to a robot-compatible stacking fixture. Background Technology

[0002] A search revealed Chinese patent publication number CN111571600A, which discloses a program control method for a stacking robot. This method improves stacking accuracy through adaptive learning and model optimization, focusing on intelligent control of the robot's motion trajectory. It is suitable for automated stacking scenarios with a single workstation. However, it only optimizes the control algorithm for a single stacking robot, without addressing the layout design of multiple processing platforms, and lacks parallel operation capabilities. The technical solution does not include an independent flipping mechanism and vision inspection module, failing to achieve integrated processing of both front and back surfaces of the workpiece and quality inspection. Furthermore, the solution does not consider automated integration of waste disposal, still requiring manual intervention to screen for defective workpieces, resulting in insufficient production continuity.

[0003] In view of the above-mentioned shortcomings, the designer has actively researched and innovated in order to create a robot-compatible stacking tooling that has greater industrial application value. Utility Model Content

[0004] To solve the above-mentioned technical problems, the purpose of this utility model is to provide a robot-compatible stacking fixture.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A robot-compatible stacking fixture includes a processing platform assembly and a loading / unloading robotic arm assembly; There are two processing platform components arranged side by side along the left and right direction. A loading and unloading robotic arm component is installed on the front and rear sides of each processing platform component, and a flipping component is installed between the two processing platform components. The processing platform assembly includes a processing platform, a set of guide rollers mounted on the side of the processing platform away from the flipping component, and a stop block mounted on the side of the processing platform closer to the flipping component; The flipping assembly includes two flipping tables arranged side by side along the front-to-back direction. A conveyor belt that can run in the left-to-right direction is installed on the flipping tables. A flipping mechanism is installed on the right side of the flipping tables. A flipping suction cup assembly is installed on the flipping mechanism. A vision mounting frame is installed between the two flipping tables. A vision inspection device is installed on the vision mounting frame above the center of the flipping tables.

[0006] As a further improvement of this utility model, it also includes a guardrail, which is located on the outside of the processing platform assembly and the loading and unloading robotic arm assembly.

[0007] As a further improvement of this utility model, a waste material handling robot arm assembly is installed on one side of the loading and unloading handling robot arm assembly. The waste material handling robot arm assembly includes a waste material handling robot arm and a waste material handling suction cup assembly installed on the waste material handling robot arm.

[0008] As a further improvement of this utility model, side guards distributed along the left and right direction are installed on both the front and rear sides of the processing platform.

[0009] As a further improvement of this utility model, several sets of positioning pins for positioning the workpiece are installed on the processing platform.

[0010] As a further improvement of this utility model, at least one material sensor is also installed on the processing platform.

[0011] As a further improvement of this utility model, the loading and unloading handling robotic arm assembly includes a loading and unloading handling robotic arm and a loading and unloading handling suction cup assembly mounted on the loading and unloading handling robotic arm.

[0012] As a further improvement of this utility model, guide components are installed on both the front and rear sides of the tilting table.

[0013] As a further improvement of this utility model, the guide assembly includes a guide wheel mounting bracket installed on the tilting table, and a plurality of guide wheels are evenly installed on the inner side of the guide wheel mounting bracket along the left and right direction.

[0014] As a further improvement of this utility model, a support mounting frame is installed on the flipping platform outside the guide wheel mounting frame, and a drive cylinder is installed on the support mounting frame. The drive cylinder drives the guide wheel mounting frame located on the inner side to move in the front-back direction.

[0015] By means of the above solution, this utility model has at least the following advantages: This invention employs a dual-processing platform design arranged in parallel, coupled with loading and unloading robotic arms on the front and rear sides, enabling parallel processing of workpieces and improving production efficiency by more than 50% compared to a single-platform design. The two processing platforms can handle different processes separately, with workpiece transfer achieved through a central flipping component, forming a complete production closed loop.

[0016] The guide components on both sides of the tilting table of this utility model adopt the drive cylinder to control the forward and backward movement of the guide wheel mounting frame, which can adapt to the guiding requirements of workpieces of different widths and solve the problem of fixed and unadjustable guides.

[0017] The outer guardrail of this utility model and the front and rear side guardrails of the processing platform form multiple safety protections.

[0018] The above description is only an overview of the technical solution of this utility model. In order to better understand the technical means of this utility model and to implement it in accordance with the contents of the specification, the following are the preferred embodiments of this utility model and are described in detail with reference to the accompanying drawings. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the structure of a robot-compatible stacking fixture according to this utility model; Figure 2 yes Figure 1 A schematic diagram of the structure of the intermediate processing platform components; Figure 3 yes Figure 1 A schematic diagram of the structure of the loading and unloading robotic arm assembly; Figure 4 yes Figure 1 A schematic diagram of the structure of the inverting component; Figure 5 yes Figure 4 A schematic diagram of the structure for installing guide components on the central tilting platform; Figure 6 yes Figure 1 A schematic diagram of the structure of the waste handling robotic arm assembly.

[0021] The meanings of the labels in the figures are as follows.

[0022] 1. Guardrail; 2. Processing platform assembly; 3. Loading and unloading robotic arm assembly; 4. Tilting assembly; 5. Waste material handling robotic arm assembly; 21. Processing platform; 22. Side guard frame; 23. Guide roller assembly; 24. Stop block; 25. Workpiece; 26. Positioning pin; 27. Material sensor; 31. Loading and unloading robotic arm; 32. Loading and unloading suction cup assembly; 41. Tilting table; 42. Tilting mechanism; 43. Tilting suction cup assembly; 44. Vision mounting bracket; 45. Vision inspection equipment; 46. Support mounting bracket; 47. Drive cylinder; 48. Guide wheel mounting bracket; 49. Guide wheel; 51. Waste handling robotic arm; 52. Waste handling suction cup assembly. Detailed Implementation

[0023] The specific embodiments of this utility model will be further described in detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this utility model, but are not intended to limit the scope of this utility model.

[0024] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0025] The first embodiment of this utility model: like Figures 1-6 As shown, a robot-compatible stacking fixture in this embodiment mainly includes a guardrail 1, a processing platform assembly 2, a loading and unloading robotic arm assembly 3, a flipping assembly 4, and a waste material handling robotic arm assembly 5.

[0026] I. Basic Layout: There are two processing platform components 2 arranged side by side along the left-right direction. A loading / unloading robotic arm component 3 is installed on both the front and rear sides of each processing platform component 2. A tilting component 4 is installed between the two processing platform components 2. A waste material handling robotic arm component 5 is installed on one side of the loading / unloading robotic arm component 3. A guardrail 1 is located outside the processing platform components 2 and the loading / unloading robotic arm component 3.

[0027] II. Machining Platform Component 2: The processing platform assembly 2 includes a processing platform 21. Side guards 22 distributed along the left and right direction are installed on both the front and rear sides of the processing platform 21. A guide roller group 23 is installed on the side of the processing platform 21 away from the flipping assembly 4. A stop block 24 is installed on the side of the processing platform 21 close to the flipping assembly 4. Several sets of positioning pins 26 for positioning the workpiece 25 are installed on the processing platform 21. At least one material sensor 27 is also installed on the processing platform 21.

[0028] Two processing platforms are arranged side by side (1.2m apart); the side guards are made of 5mm steel plate and are 0.8m high; the positioning pins are spring telescopic type (outer sleeve Φ12mm, inner core Φ8mm, adjustment range 0-20mm), with one set every 200mm (two symmetrically distributed in each set); the material sensors are E3Z-D61 type (detection distance 50-300mm, response time ≤1ms), with three on each platform (one each at the feeding end, processing position, and discharge end).

[0029] III. Loading and unloading robotic arm component 3: The loading and unloading handling robotic arm assembly 3 includes a loading and unloading handling robotic arm 31 and a loading and unloading handling suction cup assembly 32 mounted on the loading and unloading handling robotic arm 31.

[0030] There are 4 robotic arms for loading and unloading (one on the front and one on the back of each platform), model ABB IRB 4600; the suction cup assembly for loading and unloading contains 8 Φ80mm vacuum suction cups, with a spacing of 300mm×400mm between the suction cups.

[0031] IV. Flip Component 4: The flipping assembly 4 includes two flipping tables 41 arranged side by side along the front-back direction. A conveyor belt that can run along the left-right direction is installed on the flipping table 41. A flipping mechanism 42 is installed on the right side of the flipping table 41. A flipping suction cup assembly 43 is installed on the flipping mechanism 42. A vision mounting bracket 44 is installed between the two flipping tables 41. A vision inspection device 45 is installed on the vision mounting bracket 44 above the middle of the flipping table 41.

[0032] Two tilting tables are arranged side by side (0.8m apart); the conveyor belt speed is adjustable from 0.5-1m / s; the tilting mechanism is an MSQB-30R rotary cylinder (equipped with a 1:5 planetary gear reduction mechanism, 0-180 degree stepless tilting); the tilting suction cup group contains 6 Φ60mm vacuum suction cups (distributed in two rows, 300mm apart); the vision inspection equipment is an MV-CE200-10GC CCD camera (8mm focal length lens, working distance 300mm, inspection accuracy 0.1mm×0.1mm), and the camera angle can be adjusted ±30 degrees.

[0033] In addition, guide assemblies are installed on both the front and rear sides of the tilting table 41: The guide assembly includes a guide wheel mounting bracket 48 mounted on a tilting table 41, and a plurality of guide wheels 49 are evenly mounted on the inner side of the guide wheel mounting bracket 48 along the left-right direction.

[0034] A support mounting bracket 46 is installed on the flipping table 41 outside the guide wheel mounting bracket 48, and a drive cylinder 47 is installed on the support mounting bracket 46. The drive cylinder 47 drives the guide wheel mounting bracket 48 located on the inner side to move in the front-back direction.

[0035] The guide assembly is driven by an SC80×150 cylinder, and the guide wheels are Φ50mm polyurethane wheels (rim width 20mm, 5 wheels are installed on each mounting bracket, wheel spacing 100mm). V. Waste handling robotic arm component 5: The waste handling robotic arm assembly 5 includes a waste handling robotic arm 51 and a waste handling suction cup assembly 52 mounted on the waste handling robotic arm 51.

[0036] The waste handling robotic arm assembly 5 (corresponding to the outer sides of the two processing platforms) is model KUKA KR 6 R900; the waste handling suction cup assembly contains four Φ60mm vacuum suction cups.

[0037] VI. A brief description of the working process of one of the embodiments: 1. Initial preparation stage The cylinder stroke of the guide assembly is 80mm (suitable for workpiece width of 800mm), and the inner core of the positioning pin extends 15mm (suitable for thickness of 2mm). Robotic arm path preset: Right-side front loading and unloading robotic arm assembly: External conveyor line → Right-side processing platform feed end; Right rear loading and unloading robotic arm assembly: Right processing platform processing position → External processing equipment → Right processing platform processing position → Tilting assembly; Left front loading and unloading robotic arm assembly: flipping assembly → left processing platform feed end; Left rear loading and unloading robotic arm assembly: Left processing platform discharge end → external output line; The vacuum level of the vacuum suction cups is uniformly set to -80kPa. Four robotic arms return to the zero position (the right front / rear loading and unloading robotic arm assembly stops next to the right platform, and the left front / rear loading and unloading robotic arm assembly stops next to the left platform). The tilting mechanism returns to a horizontal position, with the initial spacing of the guide wheel mounting brackets at 850mm. The positioning pins on both the right and left processing platforms are in the retracted state, and all material sensors are in standby mode.

[0038] 2. Feeding and temporary storage on the right-side platform Workpiece Receiving: The external conveyor line delivers the workpiece (unprocessed state) to the feeding area of ​​the right-side processing platform. The right-side front loading and unloading robotic arm assembly receives PLC commands. Move to the feeding area, where eight Φ80mm suction cups adhere to the upper surface of the workpiece, and the vacuum pump is started to -80kPa to grip the workpiece. The workpiece is placed on the feed end of the right-side processing platform according to the preset path, the suction cup is released, and the robotic arm returns to the standby position. Feeding and positioning: After the material sensor (E3Z-D61) at the feed end of the right-side processing platform detects the workpiece, it sends a signal to the PLC: The PLC controls the extension of the positioning pin at the feed end (15mm inner core), and at the same time the platform conveyor belt starts (speed 0.8m / s). The workpiece moves towards the processing station with the conveyor belt. When it reaches the processing station, the material sensor at the processing station is triggered. The PLC controls the positioning pin at the processing station to extend and the positioning pin at the feeding end to retract, so that the workpiece can be positioned with an accuracy of ±0.1mm and the conveyor belt stops. 3. Front processing of external equipment Workpiece transfer to external equipment: After the right rear robotic arm receives the PLC processing command: Move to the processing position on the right processing platform, the suction cup adheres to the upper surface of the workpiece, and the workpiece is gripped after the vacuum degree reaches -80kPa; Move along the path to the tooling table of the external laser marking machine (front processing equipment), release the workpiece, and the robotic arm returns to the waiting position (0.5m away from the external equipment). Front processing and initial quality inspection: An external marking machine connects to a PLC signal to mark the front of the workpiece (processing time 10s, marking accuracy ±0.2mm). After processing is completed, the marking machine has a built-in vision sensor (accuracy 0.1mm) to detect the processing quality. If it is qualified, it sends a front processing qualified signal to the PLC. If it is unqualified, it sends a scrap signal (triggering subsequent scrap processing). Workpiece returns to the right platform: After receiving the qualified signal, the right rear robotic arm grabs the processed workpiece again and places it back to the processing position on the right processing platform along the original path. The positioning pin of the processing position extends again to reposition, and the robotic arm returns to the standby position. 4. Flip component: Flipping and front / back detection The workpiece is fed to the turnover table: The PLC controls the right-side processing platform to retract the positioning pin at the processing position, and the conveyor belt starts (0.8m / s) to send the workpiece to the discharge end. After the material sensor at the discharge end is triggered: The right rear robotic arm grabs the workpiece, moves it to the left tilting table of the tilting assembly (the tilting mechanism is in a horizontal state), and releases the workpiece onto the conveyor belt. The turntable conveyor belt starts (0.6m / s), and at the same time, the SC80×150 cylinder of the guide assembly is activated, pushing the guide wheel mounting bracket to move inward by 80mm, so that the guide wheel spacing matches the workpiece width (800mm) and prevents the workpiece from shifting. Frontal secondary inspection + flipping: When the workpiece reaches the middle of the flipping table (visual inspection area), the conveyor belt stops; the MV-CE200-10GCCCD camera (8mm focal length, working distance 300mm) of the flipping assembly performs a secondary inspection on the front side (machined surface) of the workpiece (frame rate 30fps, accuracy 0.1mm×0.1mm) to confirm that there are no machining defects and surface damage. After passing the inspection, the flipping suction cup group (6 Φ60mm suction cups) descends and adheres to the lower surface of the workpiece. After the vacuum reaches -80kPa, it is gripped. The flipping mechanism (MSQB-30R rotary cylinder) is activated, which drives the workpiece to rotate from 0° to 180° (flipping time 3s, angle accuracy ±1°). During this period, the limit sensor calibrates the angle in real time. Reverse inspection: After flipping, the CCD camera inspects the reverse side (unprocessed side) of the workpiece to identify any original defects (such as burrs on the surface of cold-rolled steel sheets). Pass: Send a flip detection pass signal to the PLC; Non-compliant: Send a waste signal to trigger the waste handling process. 5. Reverse processing of the left platform Workpiece transfer to left platform: The flipping mechanism resets to 0°, the flipping suction cup group releases the workpiece, and the flipping table conveyor belt starts (0.6m / s) to send the workpiece to the right flipping table (close to the left processing platform end). The left front robotic arm receives a PLC command, moves to the right tilting table, grabs the workpiece, and sends it to the feeding end of the left processing platform according to the path. After releasing the workpiece, the robotic arm returns to the standby position. Feed positioning and reverse processing: When the material sensor at the feed end of the left processing platform is triggered, the PLC controls the feed end positioning pin to extend (15mm), and the conveyor belt starts (0.8m / s) to send the workpiece to the processing position; After the material sensor at the processing position is triggered, the positioning pin extends to position (±0.1mm), and the conveyor belt stops; the punching equipment (reverse processing) on ​​the left processing platform is connected to the PLC signal to perform punching processing on the reverse side of the workpiece (hole diameter Φ10mm, hole position accuracy ±0.1mm, processing time 8s). Post-processing inspection: The punching equipment is equipped with a laser rangefinder to detect the hole depth and hole position deviation. If it is qualified, a reverse processing qualified signal is sent to the PLC; if it is unqualified, scrap processing is triggered. 6. Qualified workpieces are transferred and output. Left platform discharge: The positioning pin of the processing position on the left processing platform retracts, the conveyor belt starts (0.8m / s) and sends the workpiece to the discharge end, and the material sensor at the discharge end is triggered; The left rear robotic arm (ABB IRB 4600) grabs the workpiece, moves it along a preset path to the external output line (located 1.2m outside the left processing platform), releases the workpiece, and returns to the standby position. After receiving the workpiece, the external output line sends an output completion signal to the PLC, triggering the next cycle. 7. Waste disposal process (triggered at all nodes) Triggering scenarios: Initial inspection of external processing equipment fails, inspection of the front and back sides of the flipping component fails, and processing of the back side of the left platform fails. Processing actions: Based on the non-compliant nodes, the PLC instructs the corresponding waste handling robotic arm (KUKA KR 6 R900) to operate: External processing defect: The right rear robotic arm directly sends the workpiece to the waste collection box (without needing to return to the right platform); Flip / Left-side machining defect: The corresponding robotic arm (right rear / left front) grabs the defective workpiece and moves it to the waste collection box (1m³ volume) outside the tooling. 3 After being released, it returns to zero. The touchscreen displays the type of waste (front-side processing / flip detection / reverse processing) and the number of non-conforming materials in real time, and automatically records them to the system log (which can be exported to Excel reports). 8. Circulating operation and safety protection Continuous cycle: The entire tooling realizes a fully automatic cycle of feeding → processing → flipping → reprocessing → output. The response time of each component is ≤1s, and it can stably process 55 workpieces per hour (limited by the total time of external processing + reverse processing). Security Guarantee: The guardrail's infrared sensor (detection distance 0.3m) monitors people approaching in real time. If a person is detected, the sensor immediately controls the robotic arm to slow down (the speed is reduced to 30% of the original speed) and emits a buzzer warning sound (80dB). If personnel break through the guardrail (triggering the guardrail door magnetic switch), the PLC immediately cuts off the power to the robotic arm and conveyor belt, and the equipment stops in an emergency. At the same time, the touch screen displays the reason for the emergency stop: personnel intrusion. The equipment can only be restarted after the administrator unlocks it. All moving parts (robotic arm joints, conveyor belt rollers) are covered with protective covers (2mm thick steel plates) to prevent workpieces from splashing or parts from being accidentally damaged.

[0039] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and 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, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0040] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0041] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present utility model, and these improvements and modifications should also be considered within the protection scope of the present utility model.

Claims

1. A robot-compatible stacking fixture, comprising a processing platform assembly (2) and a loading / unloading robotic arm assembly (3); Its features are: The number of processing platform components (2) is two and they are arranged side by side along the left and right direction. A loading and unloading robotic arm component (3) is installed on both the front and rear sides of the processing platform components (2), and a flipping component (4) is installed between the two processing platform components (2). The processing platform assembly (2) includes a processing platform (21), a guide roller group (23) is installed on the side of the processing platform (21) away from the flipping assembly (4), and a stop block (24) is installed on the side of the processing platform (21) close to the flipping assembly (4). The flipping assembly (4) includes two flipping tables (41) arranged side by side along the front-back direction. A conveyor belt that can run along the left-right direction is installed on the flipping table (41). A flipping mechanism (42) is installed on the right side of the flipping table (41). A flipping suction cup assembly (43) is installed on the flipping mechanism (42). A vision mounting frame (44) is installed between the two flipping tables (41). A vision inspection device (45) is installed on the vision mounting frame (44) above the middle of the flipping table (41).

2. The robot-compatible stacking fixture as described in claim 1, characterized in that, It also includes a guardrail (1) located outside the processing platform assembly (2) and the loading and unloading robotic arm assembly (3).

3. The robot-compatible stacking fixture as described in claim 1, characterized in that, A waste handling robot arm assembly (5) is installed on one side of the loading and unloading handling robot arm assembly (3). The waste handling robot arm assembly (5) includes a waste handling robot arm (51) and a waste handling suction cup assembly (52) installed on the waste handling robot arm (51).

4. The robot-compatible stacking fixture as described in claim 1, characterized in that, Side guards (22) distributed along the left and right directions are installed on both the front and rear sides of the processing platform (21).

5. The robot-compatible stacking fixture as described in claim 1, characterized in that, Several sets of positioning pins (26) for positioning workpieces (25) are installed on the processing platform (21).

6. The robot-compatible stacking fixture as described in claim 1, characterized in that, At least one material sensor (27) is also installed on the processing platform (21).

7. The robot-compatible stacking fixture as described in claim 1, characterized in that, The loading and unloading handling robotic arm assembly (3) includes a loading and unloading handling robotic arm (31) and a loading and unloading handling suction cup assembly (32) mounted on the loading and unloading handling robotic arm (31).

8. The robot-compatible stacking fixture as described in claim 1, characterized in that, Guide components are installed on both the front and rear sides of the flipping table (41).

9. A robot-compatible stacking fixture as described in claim 8, characterized in that, The guide assembly includes a guide wheel mounting bracket (48) mounted on a tilting table (41), and a plurality of guide wheels (49) are evenly mounted on the inner side of the guide wheel mounting bracket (48) along the left-right direction.

10. A robot-compatible stacking fixture as described in claim 9, characterized in that, A support mounting bracket (46) is installed on a flipping table (41) on the outside of the guide wheel mounting bracket (48), and a drive cylinder (47) is installed on the support mounting bracket (46). The drive cylinder (47) drives the guide wheel mounting bracket (48) located on the inside to move in the front-back direction.

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