696 results about "Arm moving" patented technology

A control method for a support robot, the method comprising: in response to recognizing that a target object has an intent to require support, controlling a support robot to move toward the target object, and when the support robot moves to a target movement position, controlling a robot arm to move to a target joint position, wherein the target movement position and the target joint position are both determined on the basis of the relative position between the target object and a target sensor; and in the process of the robot arm moving to the target joint position or after the robot arm moves to the target joint position, when it is detected by means of a tactile sensor that an external force is applied to the robot arm, performing compliance control on the support robot. Further provided are a support robot, an electronic device, a computer storage medium, and a computer program.

The invention provides a coffee machine mechanical arm acceleration compensation control method and device based on toppling spill prevention, and relates to the technical field of mechanical arm control. A coffee machine calls a real-time acceleration sequence from an acceleration control library after receiving a real-time order, and a pipetting mechanical arm moves along a pipetting collision-free track in the process of clamping an order coffee cup to move along the pipetting collision-free track; the liquid gravity center offset is measured in real time through a six-axis force sensor integrated on a clamping jaw, and lagging shake offset of a real-time acceleration sequence is carried out according to the real-time gravity center offset. The technical problem that in the prior art, when a mechanical arm of a coffee machine transports coffee drinks containing heterogeneous liquid, the displacement control stability is insufficient, and pouring and scattering are likely to happen is solved. The technical effects that the coffee liquid is effectively prevented from spilling and leaking in the transportation process, the transportation stability of complex coffee drinks containing ice blocks, foam and the like is remarkably improved, safety and high efficiency of collaborative operation of the multiple mechanical arms are ensured, and the delay or overflow risk caused by liquid shaking is greatly reduced are achieved.

The invention discloses a pipeline flange butt joint method based on multi-sensor cooperation and a storage medium, and the method comprises the following steps: when a mechanical arm carries a movable pipeline to approach a fixed pipeline, a magnetic encoder is utilized to detect the axial relative deflection angle of the pipeline, and the mechanical arm is controlled to adjust the axial posture of the movable pipeline to realize axial alignment. Under the axial alignment condition, the mechanical arm moves horizontally, the laser distance measuring sensor measures the linear distance, and meanwhile the axial deviation is continuously corrected by combining data of the magnetic encoder. And after the linear distance meets a preset threshold value, the industrial camera collects images of the movable pipeline flange and the fixed pipeline flange, a bolt hole coordinate set is recognized through an image processing algorithm, the rotating angle of the mechanical arm is calculated, the mechanical arm is controlled to rotate, bolt holes of the two flanges are accurately aligned, and butt joint is completed. According to the method, precise positioning of the pipeline flange in the axial direction, the plane direction and the rotating direction is achieved through closed-loop cooperation of the magnetic encoder, the laser ranging device and the visual sensor, and the butt joint precision and reliability are improved.

The invention relates to the technical field of mechanical arm operation monitoring, in particular to a multi-joint mechanical arm operation track intelligent monitoring system based on artificial intelligence, which comprises a mechanical arm track monitoring platform, a mechanical arm operation unit, a track generation unit, a joint track tracking unit, an interference matching unit, a track action analysis unit and an offset management unit, according to the method, on the premise that the moving track is determined, whether the joint position coordinates of the multi-joint mechanical arm are accurate or not is preliminarily analyzed, on the premise that the joint position coordinates are accurate, whether the track in the joint moving step process is normal or not is analyzed in a deep mode, and analysis is conducted in combination with vibration interference factors of the multi-joint mechanical arm; according to the method, the moving trajectory coincidence degree is reasonably analyzed, analysis is carried out according to the moving trajectory coincidence degree, the moving trajectory standard is known, the moving trajectory is adjusted reasonably and specifically according to the information feedback condition, and the accuracy and stability of the moving trajectory of the multi-joint mechanical arm are improved.

The invention relates to the technical field of intelligent recognition of transfer robots, and discloses a flexible transfer robot and an intelligent recognition system thereof.The flexible transfer robot comprises a chassis and a V-shaped groove feeding and discharging storage position, the upper surface of the chassis is fixedly connected with a truss supporting assembly, and a lifting assembly is arranged in the truss supporting assembly; compared with an existing operation system, compared with use of a mechanical arm moving device, the device is high in bearing capacity and low in maintenance cost, and compared with a track arranged on the mechanical arm moving device, the occupied area is small; compared with a truss manipulator, although the bearing capacity is high, the occupied space is large, equipment and site construction needs to be carried out in the two schemes, the equipment cost is high, by means of the flexible robot, the comprehensive cost can be saved by more than 2 million yuan, the equipment cost can be saved by 1.5 million yuan, the flexible robot can serve multiple production lines at the same time, no space is occupied, and the flexible robot is suitable for large-scale production. Construction transformation is not needed on site, and the product can be quickly switched within 10 minutes through the input-and-play flexible robot.

The embodiments of the present specification provide a clip device. The clip device comprises a sheath, a clip arm and a receiving tube, the receiving tube is releasably connected with the sheath, the clip arm comprises at least two clamping parts, the proximal ends of the at least two clamping parts are movably arranged in the receiving tube, the clip arm is opened when the clip arm moves distally relative to the receiving tube, the clip arm is closed when the clip arm moves proximally relative to the receiving tube, and the receiving tube is further used for locking the clip arm.

A patient transport system includes a patient transport apparatus operable by a user for transporting a patient along stairs and a loading system for loading and unloading the patient transport apparatus from a vehicle cargo area. The loading system includes a brace configured to be mounted to the cargo area of the vehicle, a first arm supported for rotation between a stowed state and a deployed state, a second arm coupled to the first arm, and a receptacle coupled to the second arm. The receptacle is configured to receive and support the patient transport apparatus for movement relative to the cargo area of the vehicle as the first arm moves between the stowed state and the deployed state. The loading system further includes a ratchet assembly interposed between the brace and the first arm to selectively permit motion of the first arm between the stowed state and the deployed state.

A cover for use with aircraft equipment that covers the opening of an aircraft housing using two sets of moveable arms to secure the shield in place. A drive mechanism containing a nut that engages with the two sets of arms differently to allow movement of the two sets of arms at different rates and to allow one set of arms to move when another set of arms is locked in place. Both sets of arms as well as the hub assembly containing the drive mechanism are covered with a weather resistant fabric that prevents material from entering the housing. The arms are pivotably connected to a hub assembly housing that allows one end of the arms to pivot in a direction opposite the direction of movement of the opposing side of the same arm.

The utility model relates to the technical field of new energy automobile parts, in particular to a scissor door and side door linkage type door opening mechanism for a new energy automobile and the automobile. A rotating arm; the vehicle door connecting arm is provided with at least one second slot part; the switching assembly comprises a sliding rail arranged on the rotating arm, and a switching assembly arranged on the sliding rail; the sliding block is arranged on the sliding rail in a sliding manner; the switching arm is arranged on the sliding block, and at least one insertion part is arranged on the switching arm; the driving part is used for driving the switching arm to do linear motion on the sliding rail, so that the insertion part is connected with the first slot part, and the rotating arm is locked on the mounting plate; or the inserting part is connected with the second inserting groove part, and the vehicle door connecting arm is locked on the rotating arm. According to the invention, not only are fewer parts adopted, but also noise is not easy to make when the switching arm moves.

The utility model discloses an easy-open lid stacking and carrying gripper which comprises a lid body fixing mechanism, the lid body fixing mechanism comprises an adsorption mechanism and a restraining mechanism, the adsorption mechanism can be separably fixed to a lid body set, and the restraining mechanism can fix or release the lid body set in the first direction; the pallet grabbing mechanism comprises a first clamping arm and a second clamping arm, the first clamping arm and the second clamping arm are oppositely arranged, the first clamping arm and the second clamping arm can move relatively to clamp and fix a pallet, and the first clamping arm and the second clamping arm can clamp and fix the pallet through relative movement. Or the first clamping arm and the second clamping arm move oppositely to release the pallet. According to the easy-to-pull lid stacking and carrying gripper, due to the fact that the lid body fixing mechanism and the pallet grabbing mechanism are arranged, easy-to-pull lid bodies can be rapidly transferred, the easy-to-pull lid bodies can be stacked on the pallets, meanwhile, the pallets can be stacked, continuous stacking operation can be carried out, and the working efficiency is improved.

The invention belongs to the technical field related to mechanical arm movement, and discloses a mechanical arm safety critical control method and system fused with tail end posture locking. The method comprises the following steps: establishing a controller which takes the minimum deviation between the actual joint speed and the target joint speed at different moments as a target function and takes the condition that the tail end of the mechanical arm does not collide with an obstacle in the movement process and the movement is stable as a constraint condition; and the optimal joint speeds of the controller at different moments are solved, and the joints of the mechanical arm move according to the optimal speeds, so that the mechanical arm is controlled. By means of the method, the problem that the posture of the tail end of the mechanical arm cannot be abstracted into mathematical constraints and cannot be embedded into quadratic programming of the control obstacle function is solved.

The present invention relates to the technical field of medical and nursing equipment, and in particular to a nursing robot system, comprising a nursing bed, a wheelchair, a sanitary cabin and a human body transfer mechanism, wherein the human body transfer mechanism comprises a horizontally movable main body and a mechanical arm arranged on the main body, wherein the main body is provided with a plurality of mattresses arranged separately, and the mechanical arms are provided and are correspondingly arranged in the gaps between two adjacent mattresses; the nursing robot system of the present invention realizes the transfer of a human body between a nursing bed, a wheelchair and a sanitary cabin through the human body transfer mechanism, automates bathing, is simple to operate, reduces the labor intensity of nursing staff, and the mechanical arm can be inserted into the gap between two adjacent mattresses and then be located below the human body, and the mechanical arm can lift the human body by moving upward and drive the human body to move horizontally to realize the transfer, has a simple structure, and is safe and reliable.

The invention provides a climbing arm self-adaptive reset connecting structure and a climbing arm, and the climbing arm self-adaptive reset connecting structure comprises a movable seat which is used for connecting a self-adaptive climbing arm; the linear motion mechanism is arranged between the movable seat and the device body, and the linear motion mechanism comprises a linear motion mechanism or a rotating mechanism; and the one or more self-adaptive connecting mechanisms are arranged on the linear motion mechanism and comprise shells and elastic pieces arranged in the shells, one ends of the elastic pieces are fixedly connected with the shells, the other ends of the elastic pieces at least abut against the self-adaptive climbing arms, and the elastic pieces are used for providing reset force when the self-adaptive climbing arms move along the linear motion mechanism. According to the wall surface operation robot, slight swing caused by the device body can be buffered, the problems of dragging, twisting or deviation caused by the fact that the swing is transmitted to the adsorption part through the movable arm are solved, stable adsorption between the adsorption part and the wall surface is guaranteed, and then the operation stability of the wall surface operation robot is improved.

The invention discloses a mechanical arm control method and system based on real-time attitude estimation, and the method comprises the steps: obtaining a real-time point cloud image of a mechanical arm, and carrying out the attitude estimation based on the real-time point cloud image to obtain an initial attitude of the mechanical arm; the target posture of the mechanical arm is determined, the target posture and the initial posture are analyzed, and the posture error difference is determined; the attitude error difference is analyzed, the error state of the mechanical arm in each direction is determined, and a motion optimization coefficient matrix of the mechanical arm is determined based on the error state; the operation parameters of the mechanical arm are optimized on the basis of the motion optimization coefficient matrix, and motion of the mechanical arm is controlled on the basis of the optimized operation parameters; and after the mechanical arm moves, the steps are repeated, and closed-loop circulation control over the mechanical arm is completed. Visual monitoring is converted into real-time dynamic monitoring from static monitoring, continuous closed-loop deviation correction can be achieved in the movement process of the mechanical arm, accordingly, dynamic deviation correction and accurate operation are achieved, and the grabbing and assembling success rate and efficiency of the mechanical arm are greatly improved.

The invention provides a surgical robot which is characterized in that the surgical robot comprises a robot base, two mechanical arms arranged on the robot base and an execution instrument, the base ends of the two mechanical arms are connected with the robot base, the tail ends of the two mechanical arms are connected with the execution instrument, and therefore a parallel structure is formed; the connecting positions of the tail ends of the two mechanical arms and the executing instrument are arranged at intervals in the executing direction of the executing instrument, and the two mechanical arms move in at least two translational freedom degrees through the tail ends of the two mechanical arms. And the actuating device is driven to move in at least two translational degrees of freedom and move in at least two rotational degrees of freedom.

The invention belongs to the technical field of engineering mechanical equipment, and particularly relates to a connecting device of an auxiliary arm and a main arm, a dislocation adjusting method, a crane and an arm support of the crane. The connecting device at least comprises a first connecting module and a second connecting module which are used for connecting the auxiliary arm and the main arm, the auxiliary arm can adjust the axial position fixedly connected with the main arm through the first connecting module, and the auxiliary arm can move in the axial direction of the main arm through the second connecting module. After the main arm moves forwards or does not retract in place, the degree of freedom of the auxiliary arm in the axial direction of the main arm only needs to be released through the first connecting module, then the second connecting module serves as a moving track of the auxiliary arm to limit the auxiliary arm to move only in the axial direction of the main arm, and at the moment, the auxiliary arm can move in the axial direction of the main arm. The auxiliary arm is still hung on the side portion of the main arm through the first connecting module and the second connecting module, so that an auxiliary crane does not need to participate in the dislocation adjusting process of the auxiliary arm and the main arm, and the dislocation adjusting process of the auxiliary arm and the main arm is time-saving and labor-saving.

The invention discloses welding wire drawing and shaping equipment and a drawing and shaping process thereof, and belongs to the technical field of drawing. A flow guide hole is formed in the middle of a first boss, a spraying mechanism comprises a rotating cylinder movably arranged on a second boss, a limiting convex ring is arranged at the top of the rotating cylinder, and a storage bin is installed on the limiting convex ring; an annular spraying frame located in the rotary drum is arranged at the output end of the storage bin. The forming mechanism comprises a rotating piece movably installed in the third boss, multiple sets of sub-die sleeves are movably installed on the inner wall of the rotating piece, contraction parts are arranged on the inner walls of the sub-die sleeves, symmetrical gear rings are further movably installed in the rotating piece, and multiple sets of extrusion parts are arranged on the inner walls of the gear rings. During use, when the double-shaft motor drives the gear ring to rotate, the extrusion part extrudes the outer wall of the sub-die sleeve, and at the moment, the sliding arm moves towards the center position of the rotating piece along the sliding groove. And during drawing operation, the rotating piece can rotate freely under the driving of the rotating motor, so that the practicability and the degree of freedom are improved.

A device includes a first arm, a second arm, a laser beam source, and an optical medium. The first arm is pivotably attached to the second arm and the first arm and the second arm move respective to one another. The laser beam source is configured to generate laser beam that is between 400-800 nm in wavelength. The optical medium is positioned on the second arm and configured to receive the generated laser beam and apply the generated laser beam to hair strands placed between the first arm and the second arm when the first arm and the second arm are in closed position.

An automated mushroom harvesting system for mounting to a vertical mushroom rack comprises a robot having a frame mounted to a vertical carriage assembly. A SCARA arm is slidably mounted to the vertical carriage assembly by a vertical stage, operable to move the SCARA arm along a vertical mast. The SCARA arm moves the end effector in a horizontal plane for harvesting mushrooms, above the surface of the mushroom bed and into and out of the confines of the mushroom rack, and the vertical stage moves the SCARA arm in a vertical direction so as to access the mushrooms in a bed and to access mushroom beds on different levels of the vertical mushroom rack. An end effector having a helically reinforced neck and a graduated elasticity modulus, with a lower elasticity modulus in the neck and a higher elasticity in the cup, is also provided.

The invention discloses a rehabilitation training robot. The rehabilitation training robot comprises a supporting body movably arranged in the vertical direction; the bearing piece is arranged on the supporting main body and is used for bearing the lower jaw; the sensor assembly is arranged on the bearing piece so as to detect the stress of the bearing piece and detect the myoelectricity value of the swallowing muscle at the same time; the mechanical arm is provided with a fixed end, a driving arm and a movable end, one end of the driving arm is connected with the fixed end, and the other end is connected with the movable end; the fixed end is arranged on the supporting main body; the driving arm moves so that the movable end can move relative to the supporting body; the wheel disc is rotatably arranged at the movable end, and the wheel disc is provided with a plurality of adaptive parts distributed in the circumferential direction of the wheel disc; the rehabilitation assembly is detachably arranged on the adapting part, and when the wheel disc rotates, the rehabilitation assembly can be switched to be matched with the bearing piece to complete rehabilitation training. According to the rehabilitation training robot, a personalized training scheme can be provided, meanwhile, combined use of multiple therapies can be achieved, the multiple therapies can be conducted at the same time, and full-automatic intelligent training of the rehabilitation training robot is achieved.

To provide a massage device including a rotatable arm massage part so that various functions can be provided to a user.SOLUTION: The present invention relates to a massage device including a rotatable arm massage part and, more specifically, to a massage device having an arm massage part rotatably provided thereto so that various functions can be provided to a user. The massage device includes: a body massage part including a main frame forming a skeleton of the massage device and massaging the body of a user; and arm massage parts disposed at opposite sides of the body massage part to receive both arms of the user, respectively, and massaging the arms of the user, where the main frame may include an arm fixing frame to which the arm massage part is connected, and the arm massage part may include an arm moving frame rotatable in at least one direction with reference to the arm fixing frame.SELECTED DRAWING: Figure 4

The invention relates to the related technical field of machining equipment, in particular to a machining equipment cutting device which comprises a cabinet body, a clamping mechanism is arranged above a workbench, and a cutting mechanism is arranged on the surface of a fixing frame. According to the cutting device of the machining equipment, through the arrangement of the clamping mechanism, when a workpiece needs to be cut and machined, the clamping mechanism starts to work, an operator places the workpiece on the operation table, a hydraulic cylinder is started, hydraulic oil pushes a hydraulic rod to slide outwards, the hydraulic rod is connected with a sliding block and drives the sliding block to move, and the sliding block enables a moving block to slide on the sliding rod; the sliding rod stabilizes the motion trail of the sliding rod, the movable block drives the clamping arms to get close to the workpiece, meanwhile, the transmission gear on the side of the fixed plate is matched with the movable toothed plate, the clamping arms move to drive the movable toothed plate and enable the transmission gear to rotate, then the clamping arms on the other side get close synchronously, and finally the clamping blocks with anti-skid lines are used for clamping the workpiece through the clamping arms on the two sides to prevent the workpiece from sliding and moving. And machining smoothness and precision are guaranteed.

The utility model provides a cleaner. The cleaner comprises a base body, a brush arm, a cleaning brush and a rocker assembly. The brush arm keeps a pivoting relation with the base body through the pivoting shaft, and pre-stored elastic pivoting force exists between the brush arm and the base body; the brush arm is provided with a first position and a second position relative to the base body. The cleaning brush is rotatably arranged on the brush arm, and the brush arm is further used for driving the cleaning brush to move in the given direction so as to increase the chipping removing range of the cleaning brush; the rocker assembly is used for releasing and overcoming the elastic pivoting force; wherein the brush arm has a first stroke and a second stroke opposite to the first stroke, and in the first stroke, the rocker assembly periodically releases the elastic pivoting force, so that the brush arm moves from the first position to the second position; in the second stroke, the rocker assembly periodically overcomes the resilient pivoting force to move the brush arm from the second position to the first position. The utility model further provides surface cleaning equipment.

Provided is a shoulder joint structure for a figure, which makes a shoulder joint of a figure look human-like as much as possible when a corresponding arm of the figure is moved. The shoulder joint structure for a figure includes: a shoulder base part configured to form a base of a shoulder and an underarm of a figure; and an upper arm part to be coupled to the shoulder base part without a gap. The shoulder base part is pivotable about a first pivot axis relative to a body of the figure, the first pivot axis extending sideways and diagonally upward from the figure. The upper arm part is pivotable up and down about a second pivot axis relative to the shoulder base part, the second pivot axis extending in a front-and-rear direction of the figure when the figure has a corresponding arm down.

The invention relates to a kinematics parameter calibration method, system and device, computer equipment and a medium. The method comprises the following steps: acquiring a target joint angle group of an entity mechanical arm; the target joint angle group is obtained after the virtual sensing equipment is controlled to measure the virtual mechanical arm in the virtual measurement scene; the entity mechanical arm is controlled to move according to the target joint angle set, and the tail end position information, collected by the entity sensing device, of the entity mechanical arm after the entity mechanical arm moves is obtained; and according to the target joint angle set and the tail end position information, kinematics parameters of the entity mechanical arm are calibrated. By constructing a virtual measurement scene, the joint configuration of the entity mechanical arm is measured and verified, and a target joint configuration, capable of being sensed by entity sensing equipment, of a tail end target of the entity mechanical arm is obtained; in this way, in the measurement process based on the target joint configuration, a user does not need to manually adjust the direction of the target ball, continuous and autonomous kinematics parameter calibration can be achieved, and therefore the calibration efficiency is improved.

The utility model relates to the technical field of medical auxiliary devices, in particular to an auxiliary movement device for upper limb nursing after a mammary gland operation. The base is horizontally placed on a table board and surrounds the front side of the body of a patient, the upper arm moving assemblies are movably arranged on the left side and the right side of the base respectively and used for placing upper arms on the two sides respectively, and the forearm moving assemblies are rotationally arranged at the front ends of the two upper arm moving assemblies respectively and used for placing forearms on the two sides respectively. The sliding angle adjusting assemblies are arranged on the left side and the right side of the base correspondingly and used for limiting the moving angle range of the upper arm moving assemblies, and the rotating angle adjusting assemblies are arranged at the joints of the upper arm moving assemblies and the front arm moving assemblies on the same sides correspondingly and used for limiting the rotating angle range of the front arm moving assemblies on the corresponding sides. The device solves the problem that a patient cannot perform rehabilitation training accurately according to the movement amplitude guided by a doctor.

The present invention relates to a gravity compensation mechanism for a mechanical arm of a surgical robot, comprising a mechanical arm base, a lifting arm, a wire rope, an adapter seat and a gas spring, wherein a guide rail is installed on the inner side of the mechanical arm base, a slider is slidably connected to the guide rail, one side of the adapter seat is fixedly connected to the slider, and the other side of the adapter seat is fixedly connected to the lifting arm, and the lifting arm moves linearly along the guide rail; an end is fixed at each end of the wire rope, one end of the end is hung on a hook, the hook is fixed on the top of the inner side of the mechanical arm base, and the end of the other end is fixed on the lifting arm, the wire rope passes around a first pulley and a second pulley in sequence, the upper end of the gas spring is fixed on the top of the inner side of the mechanical arm base, and a movable pulley seat is fixed at the lower end, the first pulley is installed on the movable pulley seat, and the second pulley is fixed on the top of the inner side of the mechanical arm base; the present invention can compensate for the gravity that needs to be overcome when a doctor manually drags the lifting arm, so that the doctor can easily drag it to move in the height direction and manually adjust it.

The utility model relates to the technical field of microwave switches, and discloses a miniaturized steady-state coaxial microwave switch, which comprises a base, an elastic sheet, an armature and a first support rod, when the microwave switch provided by the utility model is used, when an external force drives one second support arm to move downwards, one first support arm can press the corresponding push rod downwards, so that the corresponding radio frequency reed moves downwards, and when the radio frequency reed is pressed downwards in place, the corresponding microwave channel is conducted; at the moment, the microwave channel can be kept in a conducting state under the magnetic action of the upper magnet on the second support arm and the lower magnet on the base; in the state, when the other second support arm moves downwards under the action of external force, the second support arm which moves downwards previously moves upwards, and the corresponding microwave channel is switched off; therefore, the microwave switch provided by the utility model needs to provide a downward force in actual use, the steady-state control of the microwave channel can be realized only by the electromagnetic driving device of the single-winding coil, and the size is smaller.

A filling method is disclosed in which a robot arm moves a discharge port to a first position in a first recessed portion, and at the first position, a discharge of the viscous material is started. After the discharge of the viscous material is started, the discharge of the viscous material is stopped. In a state where the discharge of the viscous material is stopped, the robot arm moves the discharge port above the first recessed portion. In a state where the discharge of the viscous material is stopped, the robot arm moves the discharge port to a second position in the first recessed portion by moving the discharge port in the horizontal direction and then moving the discharge port downward along the vertical direction, or by moving the discharge port obliquely downward. At the second position, the discharge of the viscous material from the discharge port is started.

The invention relates to a slagging-off arm telescopic mechanism of a slagging-off device. The mechanical arm is assembled on the rack and can axially move relative to the rack, and a slagging-off claw is mounted at the front end of the mechanical arm; the multiple sets of guide rollers are in guide rolling fit with the upper surface and the lower surface of the mechanical arm so as to guide the mechanical arm, each guide roller comprises a roller base and a roller, and the rollers are rotationally assembled on the roller bases. The guide spring mechanism comprises a plurality of guide spring units in one-to-one correspondence with the guide rollers, each guide spring unit comprises a guide sleeve and a spring, one end of each guide sleeve is connected with a roller seat of the corresponding guide roller, the other end of each guide sleeve is perpendicularly connected with the rack, and the springs provide elastic acting force towards the mechanical arm for the guide rollers. The mechanical arm is extruded to realize guide fitting; when the mechanical arm axially moves relative to the rack, the pitching angle of the mechanical arm relative to the rack can be changed due to the change of the gravity center. The adverse effect of heat can be reduced, and the slagging-off efficiency is improved.