47 results about "Curvilinear motion" patented technology

The utility model discloses an interactive conveying and feeding system which comprises a machine frame, a stock bin arranged on the machine frame, a flexible vibration disc, a feeding mechanism and a material moving mechanical arm moving above the position between the flexible vibration disc and the feeding mechanism, and the stock bin feeds materials into the flexible vibration disc through a feeding opening. The near ends of the feeding mechanism and the flexible vibration disc are material taking ends, the far ends of the feeding mechanism and the flexible vibration disc are material supply ends, and the feeding mechanism comprises a first conveying structure and a second conveying structure; a first bearing table of the first conveying structure moves back and forth between the material taking end and the material supply end through translation; and a second bearing table of the second conveying mechanism reciprocates between the material taking end and the material supply end through curvilinear motion, and avoids the first bearing table at the descending position of the second bearing table. The system is simple in structure, the conveying efficiency of materials is greatly improved under the condition that no extra equipment occupied space is generated, and the higher feeding requirement of a production line is met.

The invention discloses a welding system for electromechanical equipment manufacturing, and relates to the technical field of pipe fitting welding and positioning. A rotary limiting part is arranged on one side of a horizontal guide table in the length direction of the horizontal guide table, an arc-shaped guide groove is formed in the side, opposite to the rotary limiting part, of a welding bearing table, a rotary driving part is arranged between the welding bearing table and the arc-shaped guide groove, and a linkage part penetrating through an inner cavity of the rotary driving part is fixed to one side of a pipe pushing part. The linkage part is sleeved with a movable guide base matched with the arc-shaped guide groove, and the rotary driving part is used for pushing the pipe conveying mechanism to do linear motion or curvilinear motion, so that two first pipe fittings in the horizontal direction are attached and positioned, or the first pipe fittings and the second pipe fittings in the vertical direction are attached and positioned. Through the design of the arc-shaped guide groove, the rotary driving part, the limiting channel, the rotary limiting part, the pipe fitting conveying mechanism and the pipe fitting positioning mechanism, the positioning mode between different pipe fittings can be adjusted and controlled according to different application scenes, and the application range of the device is widened.

The utility model belongs to the technical field of through channel installation equipment, and particularly relates to a top plate installation mechanism with an adjusting function, the main body structure comprises a bearing pin, a bearing block and a bearing which are connected with the bearing pin, a support plate connected with the bearing block, and an adjusting seat connected with the bearing, and the support plate, the bearing block and the bearing pin are welded together. A hexagon socket cap screw, an elastic washer and a flat washer are fixedly connected with a top plate through two mounting holes in a supporting plate, a bearing is sleeved on a bearing pin and coaxially connected, an adjusting seat is sleeved on the bearing and coaxially connected, and the adjusting seat and the bearing are connected with the bearing pin through a hexagon bolt and a long circular groove of the bearing pin. The adjusting seat is fixed to the vehicle end through the hexagon socket cap screw and the large gasket, installation of the top plate is completed, and the top plate can adapt to curvilinear motion of the vehicle under different working conditions based on the structural form of the bearing and the long circular groove. The structure is simple, the cost is saved, the maintainability is high, and the mounting and dismounting process of the top plate is simplified.

The invention discloses a compact type universal driving unit of an anti-explosion AGV. The compact type universal driving unit comprises a main body frame, a left driving assembly, a right driving assembly, a rotating shaft, trundle supports and auxiliary trundles. The rotating shaft is perpendicular to the center of the body frame, the left driving assembly and the right driving assembly are symmetrically installed on the left side and the right side of the body frame, and each driving assembly is mainly composed of a driving wheel, a wheel bearing, a transmission unit, a speed reducer and an explosion-proof motor. The upper end of the rotating shaft is connected with a trundle support through a rotating shaft bearing, and an auxiliary trundle is arranged at the tail end of the trundle support. Linear motion, curvilinear motion, in-situ radius rotation motion and rapid steering of the anti-explosion AGV in any direction are achieved, meanwhile, the problem that multiple wheels make contact with the ground is solved through the swing suspension system, the anti-explosion AGV has the advantages of being compact in structure, easy to wire, high in adaptability, safe and reliable, and the problem of the anti-explosion AGV in the aspect of a driving unit is solved.

The invention belongs to the technical field of intelligent beds, and discloses an intelligent bed which comprises a bearing frame, a lifting translation mechanism, a back plate, a bed surface supporting plate and a driving mechanism, the lifting translation mechanism is movably connected with the bearing frame, the back plate is arranged on the lifting translation mechanism, the bed surface supporting plate is arranged on the bearing frame, and the first end of the driving mechanism is arranged on the bearing frame; the second end of the driving mechanism is connected with the back plate, in the lying state, the back plate and the bed surface supporting plate are located on the same horizontal plane, a person can lie flat and have a rest conveniently, and when the person needs to lie on the back, the lifting translation mechanism controls the back plate to execute curvilinear motion relative to the bearing frame under the action of the driving mechanism; the back plate is in an inclined supine state relative to the bed surface supporting plate, and the tail end, close to the bed surface supporting plate, of the back plate is gradually away from the bed surface supporting plate, so that the abdomen pressure when the back is lifted is reduced, the abdomen of a human body is relieved, the use comfort is improved, and the relieving effect is good.

The invention relates to a precise docking motion control method based on laser correction, and belongs to the field of robot navigation and path control. Comprising the following steps: S1, calculating a curve target point position of a curve track; s2, recording odometer data of a starting point and constructing a local map by taking the starting point as an original point; s3, calculating a curve track from the starting point to the curve target point; s4, performing coordinate mapping on the current point odometer data; s5, calculating an actual look-ahead distance and obtaining a look-ahead point from the curve track; s6, calculating the linear velocity and the angular velocity of the curvilinear motion; s7, the robot moves according to the linear velocity and the angular velocity of the curvilinear motion until the robot reaches a curve target point; s8, calculating the angular velocity of the linear motion according to the position of the recharging seat; and S9, the robot moves according to the linear velocity and the angular velocity of the linear motion until the robot reaches the recharging seat. Accurate docking of the mobile charging robot can be realized without relying on map or environment modification in advance, and the movement efficiency and the control precision are effectively improved.

The application discloses a kind of control method of motion trajectory, system and related components, it is related to motion control field, it is applied to the control of motion trajectory of motion equipment, this control method includes: obtaining the instruction parameter of motion trajectory;According to instruction parameter, it is carried out discrete calculation with periodic length as unit, determine the periodic number of each stage in target path length when moving according to S curve;According to all periodic numbers, determine jerk and acceleration change rate;According to jerk and acceleration change rate, determine the instruction acceleration of each cycle corresponding to each stage in target path length;According to instruction acceleration, determine the control instruction of each cycle, to make motion equipment move according to control instruction in each cycle.The control method in the application is carried out discrete calculation and control with each cycle to realize flexible motion, so that the stability of mechanical equipment in engineering application is adjustable and controllable, increase the applicable range of mechanical equipment.

The invention relates to a transferring mechanism and a sole pressing machine, and belongs to the field of sole pressing machines, the transferring mechanism comprises a swing arm mechanism and a clamp, the swing arm mechanism comprises a driving part and a rocker arm in transmission connection with the driving part, the rocker arm is hinged to the upper end of the clamp, and the driving part drives the rocker arm to swing to drive the clamp to move around the swing center of the rocker arm; and the upper end and the lower end of the clamp are kept relatively static in the moving process. The transfer mechanism has the advantages that the transfer mechanism can drive the clamp to do curvilinear motion on the vertical plane to transfer shoes from one station to another station, the transfer path is greatly smaller than that of a traditional XYZ three-axis transfer mechanism, the transfer speed is high, consumed time is short, and the transfer efficiency and the production efficiency of the sole pressing machine are effectively improved.

This utility model relates to the field of machining fixtures, specifically to a rotary displacement stage. The rotary displacement stage includes: a base; a worktable for supporting the workpiece to be rotated, the worktable being coaxially arranged with the base and rotatable relative to the base around an axis; a swing arm, one end connected to the worktable, the other end extending radially away from the worktable to form a free end; and an angle control component, the main body of which is mounted on the base, the output end of which abuts against the free end of the swing arm, the output end of the angle control component being axially movable relative to the base to drive the swing arm to swing. The rotary displacement stage provided by this utility model, by converting the linear motion of the angle control component into the curvilinear motion of the worktable, can improve adjustment accuracy compared to directly manually rotating the worktable, achieving high-precision auxiliary adjustment of the microlens array rotation angle.

The utility model discloses a rotary hook type pneumatic disc folding and unfolding machine which comprises a frame body, a channel for a trolley to go in and out is arranged in the frame body, and a left folding and unfolding mechanism and a right folding and unfolding mechanism are arranged on the frame body and located on the two sides of the channel respectively. The left folding mechanism and the right folding mechanism each comprise a lifting plate and a lifting driving mechanism driving the lifting plate to do lifting motion, the front end and the rear end of each lifting plate are provided with hook claw mechanisms capable of stretching into the front side and the rear side of the tray correspondingly, the tray is supported through the hook claw mechanisms, and therefore the whole structure is compact, the control mode is simple, and the control efficiency is high. Meanwhile, linear motion is converted into curvilinear motion through the air cylinder, so that the hook claws rotate, the pallet disassembling device is suitable for disassembling all pallets, and the overall structure is low in cost and easy to maintain.

According to the printing head assembly and the 3D printer, the cutter assembly is mainly arranged and moves under the action of external force, movable cutting of the cutter assembly can be carried out by means of movement of a printing head body, the weight of the printing head assembly can be reduced, and driving burden and mechanical loss can be reduced. According to the main technical scheme of the printing head assembly, a consumable channel is formed in a printing head body, and the consumable channel is used for allowing consumables to penetrate through; the consumable channel corresponds to at least one cutter assembly, the cutter assembly is movably connected with the printing head body, the cutter assembly comprises a cutting end, the positions of the cutting end comprise an idle position and a cutting position, and the cutter assembly is used for enabling the cutting end to do curvilinear motion under the action of external force so as to move between the idle position and the cutting position to cut off consumables. The 3D printer is mainly used for 3D printing.

The invention relates to the technical field of structural vibration control, energy dissipation and shock absorption, in particular to a mass damper with a plane curvilinear motion trail. The mass damper with the plane curvilinear motion trail comprises a mass block, a track, a spring component and a fixing piece. The track and the fixing piece are fixedly installed on a controlled structure, a sliding part is installed at the end of the mass block, and when the controlled structure vibrates, the mass block moves along the track; one end of the spring component is connected with the mass block, and the other end of the spring component is connected with the fixing piece. When the controlled structure vibrates under the excitation effect, the controlled structure drives the device to vibrate, the mass block moves along the track and deviates from the static balance position, the length of the spring component is far away from the original length, and the generated spring force drives the mass block to return to the static balance position. In the reciprocating vibration process of the mass block, energy is absorbed from the controlled structure, and therefore vibration of the controlled structure is reduced.

The invention provides a passive lock catch mechanism of a three-plate die for die casting, the three-plate die comprising the passive lock catch mechanism and die casting equipment comprising the passive lock catch mechanism. The passive lock catch mechanism comprises a limiting block which is mounted on the movable mold and moves synchronously with the movable mold; the lock catch is installed on the middle plate through a lock catch support, the shape of one end of the lock catch is matched with that of the limiting block, a spring lifting pin is arranged on one side face of the other end of the lock catch, and a guide pin is arranged on the other side face adjacent to the other end of the lock catch; the guide block is mounted on the fixed mold, positioning platforms are arranged at the two ends of the guide block, and the guide block guides the guide pin to do curvilinear motion between the two positioning platforms; the curvilinear motion of the guide pin drives the lock catch to rotate with the rotating shaft on the lock catch support as the center, and meanwhile force is applied to the spring lifting pin. The three-plate die opening / closing mechanism is simple in structure, does not need to independently hydraulically drive the middle plate and can be matched with a die-casting machine to efficiently complete die opening / closing actions of a three-plate die.

A detection apparatus (100), comprising a sensing assembly (101), a movable part (10) and a fixed part (20), wherein at least some of components of the sensing assembly (101) are payloads (103); the movable part (10) is configured to be connected to the payloads (103); one of the movable part (10) and the fixed part (20) comprises at least part of a magnetic field generation structure (30), and the other comprises a coil structure (40); when the coil structure (40) is energized, the magnetic field generation structure (30) can cooperate with the coil structure (40) to generate a driving force, such that the movable part (10) can perform a reciprocating curved motion in a first movement space (51), thereby driving at least some of the payloads (103) to perform a reciprocating motion in a second movement space (52) outside the first movement space (51), the first movement space (51) is located on the inner side or the outer side of the fixed part (20) and is configured to allow the movable part (10) to perform the reciprocating curved motion; and the second movement space (52) is formed by extending in a movement direction of the movable part (10), and / or a central angle corresponding to the first movement space (51) is less than 360°. The control response speed of the driving device (102) can be increased, thereby further improving the detection accuracy. The present application further relates to a movable platform.

The invention discloses a damping-adjustable vibration attenuation control method for a bogie of a high-speed motor train unit, which can be suitable for the design of bogies with built-in and external axle boxes: the operation condition of a train is determined according to the operation condition data in the running process of the train; a control strategy is adopted according to the train speed; compression damping force of a primary / secondary vertical shock absorber of a front bogie of the train, compression damping force of a primary / secondary vertical shock absorber of a rear bogie of the train, damping force of a centripetal side vertical shock absorber and damping force of a centrifugal side vertical shock absorber in curvilinear motion of the train under the ultrahigh road condition are subjected to compression damping force of a primary / secondary vertical shock absorber of a rear bogie of the train. The damping force F < inner 1 > of the primary vertical shock absorber on the curve radius center side when the train does curvilinear motion under the non-ultrahigh road condition and the damping force F < outer 1 > of the primary vertical shock absorber far away from the curve radius center side when the train does curvilinear motion are adjusted; the vibration reduction control of the bogie of the high-speed motor train unit is realized.

The invention discloses a motion control parameter generation method and device, equipment and a medium. The method comprises the following steps: acquiring a moving distance, a moving performance priority and moving constraint information of a one-way moving object; determining motion upper limit information of the one-way motion object according to the motion constraint information; determining a priority proportion according to the movement distance, the movement performance priority and the movement upper limit information; according to the motion upper limit information and the priority proportion, motion control information is determined, and the motion control information is used for controlling the one-way motion object to move by the moving distance in the single direction according to the S-shaped motion curve. According to the embodiment of the invention, the adaptability of motion control parameters and application scenes can be improved.

The utility model relates to a laboratory teaching aid, which comprises a ball body and a bottom frame, the bottom frame is provided with a demonstration board used for displaying the motion trail of the ball body and a curve track used for limiting the motion trail of the ball body, the curve track is formed by splicing a plurality of sub-tracks, each sub-track can be detached independently, and each sub-track can be detached independently. Wherein one sub-track comprises a ball inlet, and the other sub-track comprises a ball outlet. According to the teaching aid, the motion trail of a ball can be displayed through the demonstration board, the relation between curvilinear motion, linear motion and the speed direction of the ball can be displayed on the demonstration board under the condition that whether external force exists or not by disassembling the sub-tracks, and different forms of linear and curvilinear motion trails can be observed in actual operation through direct demonstration and observation. Therefore, students' understanding of kinematics concepts is deepened.

The utility model discloses a shielding net cut-off machine which comprises a base, a driving rod, a driving device and a cutting blade, and the driving rod is installed on the base. The driving device is mounted on the base and is connected with the driving rod; the cutting blade is mounted on the base; the shielding wire penetrates through a cutter hole of the cutting blade and is connected with the front end of the driving rod; in the process that the driving device pushes the driving rod to approach the cutting blade, the driving rod rotates around the axis by an angle alpha, so that the cutting blade cuts a shielding layer of the shielding wire. The shielding net cut-off machine is simple and compact in structure, linear motion is converted into curvilinear motion through the driving rod, a shielding wire is driven to rotate by a certain angle in a cutter hole of the cutting blade, then cutting of a shielding layer on the shielding wire is achieved, and the shielding net cut-off machine is simple, efficient and simple in operation mode.

The invention discloses a car lamp carrying device which comprises a linear motion driving mechanism. The first tool platform is suitable for performing linear reciprocating motion under the action of the linear motion driving mechanism; the lifting type guide mechanism comprises a pair of guide plates which are symmetrically arranged, and guide grooves of fitting curves which are respectively formed in the guide plates; and the second tool platform is matched with the guide grooves of the pair of guide plates at the same time, so that the second tool platform is suitable for doing curvilinear motion of firstly ascending and then descending along the guide grooves to avoid the first tool platform while doing face-to-face motion and separation motion relative to the first tool platform. According to the invention, the control program in the carrying process can be simplified, and the carrying efficiency can be ensured.

The utility model relates to an experiment teaching aid, in particular to a curvilinear motion speed and direction tester which comprises a flat plate and a ball moving on the flat plate, a ball launching device is arranged on one side of the flat plate, a motion track for the ball to move is arranged on the flat plate, and the motion track comprises a first section of arc, and a first opening is formed in the middle of the first section of arc. A detachable first baffle with the same radian as the first section of arc is arranged at the first opening, a first containing groove for containing the ball is formed in the outer side of the first opening, and the opening of the first containing groove is larger than the movement tangential direction of the ball. The planar curvilinear motion is adopted to eliminate the influence of the gravity effect, and the planar teaching aid with a simple structure can meet the requirement of one student; multiple experiment effects can be obtained during one-time launching by adopting multiple groups of connecting rails, and the movement effect of each section of arc can be self-defined, disassembled and self-defined by adopting multiple groups of notches; the launching device adopts a button form to ensure that the initial motion potential energy of the ball is approximate in each launching process.

The utility model relates to the technical field of rehabilitation equipment, and provides an elbow joint trainer which comprises a shell, a reciprocating motion mechanism, a flexion and extension assembly, a first fixing assembly and a second fixing assembly. The reciprocating motion mechanism is arranged in the shell; the bending and stretching assembly comprises a supporting seat, a supporting rod, a fixing seat and a connecting arm, the supporting seat is connected with the reciprocating motion mechanism, vertical plates are arranged on the two sides of the supporting seat, arc-shaped grooves are formed in the vertical plates, and the supporting rod is arranged between the vertical plates and is in sliding fit with the arc-shaped grooves; one end of the connecting arm is hinged to the supporting rod, and the other end of the connecting arm is hinged to the fixing base. The first fixing assembly is used for fixing the upper arm part, and the second fixing assembly is used for fixing the wrist part. The reciprocating motion mechanism is arranged in the shell, the bending and stretching assembly is driven by the reciprocating motion mechanism to act, the bending and stretching actions of the elbow joint can be completed, the overall scheme is simple in structure and easy to manufacture, and the stability of the mode of converting linear motion into curvilinear motion through the vertical plate is higher.

The present disclosure provides an excavator control method, device, excavator, and storage medium, relating to the field of motion planning. The method comprises: determining the initial position, first transition point position, second transition point position, and terminal position of the excavator from excavation to unloading completion based on the position and height information of the transport vehicle and the position information of the excavator; calculating the first angle information of each joint of the excavator at each moment from the initial position to the first transition point position using a linear motion planning algorithm; calculating the second angle information of each joint of the excavator at each moment from the first transition point position to the second transition point position using a curvilinear motion planning algorithm; calculating the third angle information of each joint of the excavator at each moment from the second transition point position to the terminal position using a linear motion planning algorithm; and controlling the motion of each joint of the excavator based on the first angle information, the second angle information, and the third angle information to perform the excavation operation.

The utility model discloses a bag inserting mechanism which comprises a supporting piece, a triangular inserting piece, a driving assembly and a swing arm. The supporting piece is provided with a first sliding rail. The triangular insertion piece is connected to the first sliding rail through a sliding block and can linearly move along the first sliding rail in a reciprocating mode. The driving assembly is assembled on the supporting piece; the swing arm is connected to the driving assembly and the triangular insertion piece. The driving assembly drives the swing arm to swing, and the swing arm drives the triangular insertion piece to move along the first sliding rail in the swing process. According to the bag inserting mechanism driving assembly, linear operation is converted into curve operation, then curve motion of the swing arm is converted into linear motion of the triangular inserting piece along the first sliding rail, stable and accurate movement of the triangular inserting piece is achieved, triangular concave shape pressing is conducted on a packaging bag, and the heat sealing effect of the packaging bag is better.

The invention belongs to the technical field of numerical control, and provides a five-axis machining control method and system based on a motion controller, and the method comprises the steps: obtaining a continuous motion sequence of a rotating shaft, obtaining and marking a tiny reverse motion segment through the motion sequence, and deleting the tiny reverse motion segment. Extracting end point parameters and starting point parameters of front and back movement sections adjacent to the tiny reverse movement section, reconnecting the end point parameters and the starting point parameters to generate an S-curve movement section, obtaining an updated tool nose point track through a forward kinematics mechanism, and comparing the updated tool nose point track with an original tool nose point track to obtain track deviation; and performing effectiveness judgment on the S-curve motion section by combining a third threshold value, performing local smooth optimization according to a judgment result to obtain an optimized S-curve motion section, and controlling five-axis machining through the optimized S-curve motion section. According to the method, the S-curve motion section is optimized to replace tiny reverse motion, and the forward kinematics is combined for track verification to optimize five-axis machining control, so that the machining precision can be improved.

The invention provides a homogenizing device and method based on dynamic trajectory control and application, and the homogenizing device comprises a homogenizing tank, a driving controller, a driving shaft and a stirring assembly; the bottom of the driving shaft is fixedly connected with the stirring assembly and extends into the homogenizing tank; the top of the driving shaft is fixedly connected with the driving controller, and the driving controller can drive the driving shaft to perform lifting, rotating and curvilinear motion in a three-dimensional space, so that the stirring assembly can cover the whole space in the homogenizing tank. According to the homogenizing tank, it can be ensured that particles in all areas in the homogenizing tank can be subjected to equal acting force, lifting and curvilinear motion are combined, the space in the whole homogenizing tank can be stirred more efficiently, and the dead-angle-free and efficient homogenizing effect is achieved.

The application relates to a method for tracking a main AUV from an AUV based on a sliding mode adaptive control, which decouples the motion of the AUV into horizontal plane motion and longitudinal plane motion, simultaneously considers the influence of non-constant interference and sea current during the motion of the AUV, designs a control law through a sliding mode adaptive control method, and estimates the sea current velocity on line, so as to guide the AUV to the tail of a target AUV to perform distance tracking. Finally, through tracking simulation of linear motion and curve motion of the target AUV respectively, the feasibility of the AUV long-distance guiding and tracking method is verified. Through adaptive control, the influence of parameter error on the stability of the system is eliminated, the sliding mode adaptive control method can estimate the sea current velocity, the system has certain anti-interference ability, and the robustness of the system is also indicated.

The invention relates to the technical field of carton sealing machines, and discloses a random full-automatic H-shaped carton sealing machine which comprises a machine base, a conveying channel is formed in the machine base, conveying rollers are rotatably arranged in the conveying channel at equal intervals, limiting track beams are symmetrically arranged on the two sides of the outer portion of the machine base, and a lifting table is movably arranged between the two limiting track beams; the right side of the lifting table is connected with a driving box through a welding frame, a swing pressing rod is movably arranged at the right end of the driving box, a rotary pressing rod is movably arranged at the lower end of the driving box, and the left side of the lifting table is connected with a box sealing machine core. A servo motor drives a gear to rotate, an adjusting gear rotates through meshing, a positioning main rod provides adjusting acting force, an inclined rod drives a side pressing plate to do curvilinear motion, the side pressing plate is better attached to an outer rocking cover, meanwhile, the movement degree of the side pressing plate is adjusted according to the actual situation, it is ensured that a tension spring is normally compressed, and the situation of machine clamping is avoided; adjustability is high, and cartons of different sizes can be adapted.

This application relates to a trajectory generation device, which includes a guide rail module, two motion modules, and a trajectory generating component. The two motion modules are reciprocally slidably mounted on the guide rail module, and are spaced apart. The trajectory generating component is movably connected to the two motion modules via two connecting rods, and during the movement of the two motion modules, the trajectory generating component can perform linear and curvilinear movements in a planar space. The trajectory generation device provided in this application, through the movement of the two motion modules on the guide rail module, realizes the preset trajectory drawing action of the trajectory generating component. This reduces the motion jitter of the trajectory generating component, improves the response rate of the trajectory generating component during trajectory drawing, separates the linear and curvilinear movements of the trajectory generating component, facilitates control of the drawn trajectory, and has a simple structure, improving energy efficiency while reducing usage and maintenance costs.

The invention relates to a double-station alternating reciprocating type transfer platform which comprises a first bearing moving device, a second bearing moving device and a curvilinear motion guide piece. A power transmission assembly in the first bearing moving device acts, so that a first connecting piece displaces, and a first bearing platform is driven by a second connecting piece to displace in the same direction as the transmission direction of the power transmission assembly; the flexible transmission assembly synchronously drives the second bearing platform to drive the second bearing moving device to move in the direction opposite to the transmission direction of the power transmission assembly, in the movement process, the second connecting piece enables the first bearing platform to actively avoid the second bearing platform through the curvilinear motion guiding piece, and double-station alternate reciprocating operation is achieved. According to the invention, the power source is reduced to one, and the number of sensors is correspondingly reduced, so that the control complexity is reduced, the delay time in operation and the waiting time which is useless for efficiency are reduced or eliminated, and the efficiency is further improved.