阅读说明：本技术 一种冷镦设备的全自动送料机械手 (Full-automatic feeding manipulator of cold heading equipment ) 是由 刘金海 于 2020-12-15 设计创作，主要内容包括：本发明公开了一种冷镦设备的全自动送料机械手,包括机械手,所述机械手的下方左侧安装有安装机构,所述螺纹杆的左侧设有第一把手,所述螺纹杆的左侧外壁与第一把手的中间内壁固定连接,所述螺纹杆的右侧设有第一支撑板,螺纹杆的右侧外壁与第一支撑板的中间内壁螺纹连接。该冷镦设备的全自动送料机械手,将机械手的左端与横板的右端贴合对其,转动第一把手带动螺纹杆转动在第一支撑板内箱左侧移动,螺纹杆通过第一轴承在曲杆内转动使曲杆箱左侧移动插在机械手上的卡槽内可以快速将机械手固定安装在横板上,保证机械手的正常工作,解决了现有的冷镦设备的全自动送料机械手多采用螺栓之类的进行连接安装,且安装速度慢,影响工作效率的问题。(The invention discloses a full-automatic feeding manipulator of cold heading equipment, which comprises a manipulator, wherein an installation mechanism is installed on the left side below the manipulator, a first handle is arranged on the left side of a threaded rod, the outer wall of the left side of the threaded rod is fixedly connected with the inner wall of the middle of the first handle, a first supporting plate is arranged on the right side of the threaded rod, and the outer wall of the right side of the threaded rod is in threaded connection with the inner wall of the middle of the first supporting plate. This full-automatic feeding manipulator of cold-heading equipment, the left end with the manipulator is laminated to it with the right-hand member of diaphragm, it drives the threaded rod and rotates and move in first backup pad inner box left side to rotate the first in command, the threaded rod makes the curved bar case left side remove to insert can be fast with manipulator fixed mounting on the diaphragm in the draw-in groove on the manipulator through first bearing at the curved bar internal rotation, guarantee the normal work of manipulator, the full-automatic feeding manipulator of having solved current cold-heading equipment adopts the bolt etc. to connect the installation more, and the installation rate is slow, influence work efficiency's problem.)

1. The utility model provides a full-automatic feeding manipulator of cold-heading equipment, includes manipulator (1), its characterized in that: an installation mechanism (4) is installed on the left side below the manipulator (1); the mounting mechanism (4) comprises a threaded rod (401), a first handle (402), a first supporting plate (403), a transverse plate (404), a first bearing (405), a curved rod (406) and a clamping groove (407).

2. The full-automatic feeding manipulator of the cold heading equipment as claimed in claim 1, wherein: the left side of threaded rod (401) is equipped with first in command (402), the left side outer wall of threaded rod (401) and the middle inner wall fixed connection of first in command (402), the right side of threaded rod (401) is equipped with first backup pad (403), the right side outer wall of threaded rod (401) and the middle inner wall threaded connection of first backup pad (403), the bottom of first backup pad (403) is equipped with diaphragm (404), the bottom of first backup pad (403) and the right side top fixed connection of diaphragm (404), the right side outer wall of threaded rod (401) rotates through first bearing (405) and the left side top outer wall of curved bar (406) and links to each other, the right side below outer wall of curved bar (406) and the internal surface looks joint of draw-in groove (407), the below right side inner wall at manipulator (1) is seted up to draw-in groove (407).

3. The full-automatic feeding manipulator of the cold heading equipment as claimed in claim 2, wherein: the outer wall of the first handle (402) is processed with abrasive grains.

4. The full-automatic feeding manipulator of the cold heading equipment as claimed in claim 1, wherein: the manipulator is characterized in that a vertical plate (2) is arranged on the left side of the lower portion of the manipulator (1), the outer wall of the lower portion of the vertical plate (2) is in clearance fit with the inner surface of a middle groove of the transverse plate (404), and a bottom plate (3) is arranged below the vertical plate (2).

5. The full-automatic feeding manipulator of the cold heading equipment as claimed in claim 1, wherein: and a lifting mechanism (5) is arranged in the transverse plate (404).

6. The full-automatic feeding mechanical arm of the cold heading equipment is characterized in that the lifting mechanism (5) comprises a worm (501), a second handle (502), a second bearing (503), a worm wheel (504), a pin shaft (505), a sliding block (506) and a first sliding groove (507).

7. The full-automatic feeding manipulator of the cold heading equipment as claimed in claim 6, wherein a second handle (502) is arranged on the left side of the worm (501), the left outer wall of the worm (501) is fixedly connected with the middle inner wall of the second handle (502), the left outer wall of the worm (501) is rotatably connected with the upper left inner wall of the transverse plate (404) through a second bearing (503), a worm wheel (504) is arranged below the right side of the worm (501), the right lower side of the worm (501) is meshed with the teeth of the worm wheel (504), the middle inner wall of the worm wheel (504) is rotatably connected with the rear end face of the left side of the slot of the transverse plate (404) through a pin shaft (505), the teeth of the worm wheel (504) are meshed with the teeth processed on the left side below of the vertical plate (2), a sliding block (506) is arranged on the right side of the worm wheel (504), and the right end of the sliding block (506) is fixedly connected with the middle right surface of the slot of the transverse plate (404), slider (506) and first spout (507) slip joint, the right side inner wall at riser (2) is seted up in first spout (507).

8. The full-automatic feeding manipulator of the cold heading equipment as claimed in claim 4, wherein: an adjusting mechanism (6) is arranged below the vertical plate (2); the adjusting mechanism (6) comprises a sliding rail (601), a second sliding groove (602), a second supporting plate (603), a compression spring (604), a top rod (605), a rubber ring (606), a ball body (607), a through groove (608) and a third supporting plate (609).

9. The full-automatic feeding manipulator of the cold heading equipment as claimed in claim 8, wherein: the bottom end of the sliding rail (601) is fixedly connected with the middle of the top end of the bottom plate (3), the sliding rail (601) is clamped with the second sliding chute (602) in a sliding manner, the second sliding groove (602) is arranged on the inner wall of the middle part below the vertical plate (2), the left side of the sliding rail (601) is provided with a second supporting plate (603), the right end of the second supporting plate (603) is fixedly connected with the outer wall of the left side below the vertical plate (2), a compression spring (604) is arranged at the bottom end of the second supporting plate (603), the middle of the bottom end of the second supporting plate (604) is fixedly connected with the top end of the compression spring (604), the bottom end of the compression spring (604) is fixedly connected with the middle of the top end of the top rod (605), the lower outer wall of the mandril (605) is fixedly connected with the middle inner wall of the rubber ring (606), the bottom end of the top rod (605) is fixedly connected with the middle of the top end of the sphere (607).

10. Use of the full automatic feeding manipulator of cold heading equipment according to any one of claims 1 to 9, characterized by adopting the following operating steps: when the full-automatic feeding manipulator of the cold heading equipment is used, firstly, the left end of the manipulator is manually attached to the right end of a transverse plate (404), a first handle (402) is rotated to drive a threaded rod (401) to rotate and move on the left side of a box in a first supporting plate (403), the threaded rod (401) rotates in a curved rod (406) through a first bearing (405) to enable the left side of the curved rod (406) to move and be inserted into a clamping groove (407) on the manipulator (1), the manipulator (1) is quickly and fixedly arranged on the transverse plate (404), a second handle (502) is rotated to drive a worm (501) to rotate in the transverse plate (404) through a second bearing (503), the worm wheel (504) positively and reversely rotates in a groove in the left side of the transverse plate (404) through a pin shaft (505) through the meshing force between the teeth of the worm (501) and the teeth machined in the left side below a vertical plate (2), and a sliding block (506) in the groove in the transverse plate (2) is opened through the meshing force between the teeth of the worm wheel (504) and ) The upper first sliding groove (507) slides up and down, so that the manipulator (1) on the transverse plate (404) can be lifted and lowered on the outer wall of the vertical plate (2), the second sliding groove (602) on the vertical plate (2) can be manually moved back and forth on the sliding rail (601) on the bottom plate (3) to adjust the machining station of the manipulator (1), the rubber ring (606) is moved upwards to move the ejector rod (605) to extrude the compression spring (604), otherwise, the ejector rod (605) is reset through the elasticity of the compression spring (604), the ejector rods (605) on two sides respectively drive the ball body (607) to move downwards to reset and tightly abut against the through groove (608) on the third supporting plates (609) on two sides, and the manipulator (1) is limited and fixed after the adjusting station.

Technical Field

The invention relates to the technical field of manipulators, in particular to a full-automatic feeding manipulator of cold heading equipment.

Background

The manipulator is an automatic operation device which can imitate certain action functions of a human hand and an arm and is used for grabbing and carrying an object or an operation tool according to a fixed program, and is characterized in that various expected operations can be completed through programming, the advantages of the human and the manipulator are achieved in structure and performance, the cold heading equipment needs the manipulator to feed, but the full-automatic feeding manipulator of the existing cold heading equipment is connected and installed by bolts and the like, the installation speed is low, the working efficiency is influenced, and meanwhile, the problem that the full-automatic feeding manipulator of the existing cold heading equipment cannot be adjusted according to the height of the object to be fed is solved, and the application range is single.

Disclosure of Invention

The invention aims to provide a full-automatic feeding manipulator of cold heading equipment, and aims to solve the problems that the full-automatic feeding manipulator of the existing cold heading equipment in the background art is connected and installed by bolts and the like, the installation speed is low, and the working efficiency is influenced.

In order to achieve the purpose, the invention provides the following technical scheme: a full-automatic feeding mechanical arm of cold heading equipment comprises a mechanical arm, wherein an installation mechanism is arranged on the left side below the mechanical arm;

the mounting mechanism comprises a threaded rod, a first handle, a first supporting plate, a transverse plate, a first bearing, a curved rod and a clamping groove;

the left side of threaded rod is equipped with the first in command, the left side outer wall of threaded rod and the middle inner wall fixed connection of the first in command, the right side of threaded rod is equipped with first backup pad, the right side outer wall of threaded rod and the middle inner wall threaded connection of first backup pad, the bottom of first backup pad is equipped with the diaphragm, the bottom of first backup pad and the right side top fixed connection of diaphragm, the right side outer wall of threaded rod rotates through the left side top outer wall of first bearing and curved bar and links to each other, the right side below outer wall of curved bar and the internal surface looks joint of draw-in groove, the draw-in groove is seted up at the below right side inner wall of manipulator.

Preferably, the outer wall of the first handle is provided with a grinding line.

Preferably, a vertical plate is arranged on the left side of the lower portion of the manipulator, the outer wall of the lower portion of the vertical plate is in clearance fit with the inner surface of the middle groove of the transverse plate, and a bottom plate is arranged below the vertical plate.

Preferably, a lifting mechanism is arranged inside the transverse plate;

the lifting mechanism comprises a worm, a second handle, a second bearing, a worm wheel, a pin shaft, a sliding block and a first sliding groove;

the left side of worm is equipped with the second handle, the middle inner wall fixed connection of the left side outer wall of worm and second handle, the left side upper inner wall of left side outer wall through second bearing and diaphragm rotates continuously, the right side below of worm is equipped with the worm wheel, the right side below of worm links to each other with the tooth meshing of worm wheel, the middle inner wall of worm wheel rotates continuously through the fluting left side rear end face of round pin axle with the diaphragm, the tooth meshing of the tooth of worm wheel and the below left side processing of riser links to each other, the right side of worm wheel is equipped with the slider, fixed surface is connected in the middle of the right-hand member of slider and the fluting right side of diaphragm, slider and first spout slip joint, the right side inner wall at the riser is seted up to first spout.

Preferably, an adjusting mechanism is arranged below the vertical plate;

the adjusting mechanism comprises a sliding rail, a second sliding groove, a second supporting plate, a compression spring, a push rod, a rubber ring, a ball body, a through groove and a third supporting plate;

the bottom end of the slide rail is fixedly connected with the middle of the top end of the bottom plate, the slide rail is clamped with the second chute in a sliding way, the second sliding groove is arranged on the inner wall of the middle part below the vertical plate, a second supporting plate is arranged on the left side of the sliding rail, the right end of the second supporting plate is fixedly connected with the outer wall of the left side below the vertical plate, the bottom end of the second supporting plate is provided with a compression spring, the middle of the bottom end of the second supporting plate is fixedly connected with the top end of a compression spring, the bottom end of the compression spring is fixedly connected with the middle of the top end of the ejector rod, the lower outer wall of the ejector rod is fixedly connected with the middle inner wall of the rubber ring, the bottom end of the ejector rod is fixedly connected with the middle of the top end of the ball body, the bottom of spheroid and the bottom intermediate surface that leads to the groove laminate mutually, lead to the groove and set up the left side top inner wall at the third backup pad, the right-hand member rigid coupling of third backup pad is at the below left end of slide rail.

Preferably, the second supporting plate, the compression spring, the ejector rod, the rubber ring, the ball body, the through groove and the third supporting plate are symmetrically distributed on the left side and the right side by taking the center line of the vertical plate as the center.

Compared with the prior art, the invention has the beneficial effects that: this full-automatic feeding manipulator of cold-heading equipment compares in traditional technology, has following advantage:

this full autoloading manipulator of cold-heading equipment, through the manipulator, the threaded rod, the first in command, first backup pad, the diaphragm, first bearing, cooperation between knee lever and the draw-in groove, the left end with the manipulator is to it with the right-hand member laminating of diaphragm, it drives the threaded rod rotation in the first in command and removes on first backup pad inner box left side to rotate the first in command, the threaded rod makes the knee lever case left side remove through first bearing at the knee lever internal rotation and inserts can be fast with manipulator fixed mounting on the diaphragm in the draw-in groove on the manipulator, guarantee the normal work of manipulator, the full autoloading manipulator of having solved current cold-heading equipment adopts the bolt to connect the installation more, and the installation rate is slow, influence work efficiency's problem.

The full-automatic feeding manipulator of the cold heading equipment rotates the second handle to drive the worm to rotate in the transverse plate through the second bearing through the matching among the manipulator, the vertical plate, the mounting mechanism, the worm, the second handle, the second bearing, the worm wheel, the pin shaft, the sliding block and the first sliding groove, the worm wheel rotates positively and negatively in the groove on the left side of the transverse plate through the pin shaft by the engaging force between the teeth of the worm and the worm wheel, the sliding block in the groove of the transverse plate slides up and down in the first sliding groove on the vertical plate through the engaging force between the teeth of the worm wheel and the teeth processed on the left side below the vertical plate, so that the mechanical hand on the transverse plate realizes the lifting adjustment on the outer wall of the vertical plate, the height adjustment suitable position of pay-off object as required, application range is extensive, has solved the problem that the full-automatic feeding manipulator of current cold-heading equipment can not adjust as required the height of pay-off object, and application range is single.

This full-automatic feeding manipulator of cold-heading equipment, through the manipulator, the riser, the bottom plate, installation mechanism, a slide rail, the second spout, the second backup pad, compression spring, the ejector pin, the rubber circle, the spheroid, lead to the cooperation between groove and the third backup pad, make the second spout on the riser slide adjusting manipulator's processing station around on the slide rail on the bottom plate, upward movement rubber circle makes the ejector pin rebound make compression spring extrude, otherwise can make the ejector pin restore to the throne through compression spring's elasticity, the ejector pin of both sides drives the spheroid respectively and restores to the throne and supports and make the manipulator adjust the station spacing fixed behind the station tightly at the leading to inslot on the third backup pad of both sides, moreover, the operation is simple, time and labor are saved, the full-automatic feeding manipulator of current cold-heading equipment has been solved, the station can not be adjusted, need wholly to dismantle.

This full autoloading manipulator of cold-heading equipment, through the cooperation between manipulator, riser, bottom plate, installation mechanism, elevating system and the adjustment mechanism, the manipulator installation is stable, and the lift adjustment is stable, and it is stable to adjust the station simultaneously, guarantees the manipulator and normally works, and the full autoloading manipulator stability who has solved current cold-heading equipment is low to influence the problem of the normal work of manipulator.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the threaded rod, first handle and first support plate of FIG. 1;

FIG. 3 is a schematic structural view of the vertical plate, the second sliding groove and the sliding rail in FIG. 1;

FIG. 4 is a schematic view of the worm, the second handle and the second bearing of FIG. 1;

FIG. 5 is a schematic structural view of the transverse plate, the sliding block and the first sliding groove in FIG. 1;

fig. 6 is a schematic view of the threaded rod, first bearing and curved rod of fig. 1.

In the figure: 1. the mechanical arm comprises a mechanical arm body, 2, a vertical plate, 3, a bottom plate, 4, a mounting mechanism, 401, a threaded rod, 402, a first handle, 403, a first supporting plate, 404, a transverse plate, 405, a first bearing, 406, a curved rod, 407, a clamping groove, 5, a lifting mechanism, 501, a worm, 502, a second handle, 503, a second bearing, 504, a worm wheel, 505, a pin shaft, 506, a sliding block, 507, a first sliding groove, 6, an adjusting mechanism, 601, a sliding rail, 602, a second sliding groove, 603, a second supporting plate, 604, a compression spring, 605, a top rod, 606, a rubber ring, 607, a sphere, 608, a through groove, 609 and a third supporting plate.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-6, the present invention provides a technical solution:

example 1

A full-automatic feeding manipulator of cold heading equipment comprises a manipulator 1, wherein an installing mechanism 4 is installed on the left side below the manipulator 1, the installing mechanism 4 comprises a threaded rod 401, a first handle 402, a first supporting plate 403, a transverse plate 404, a first bearing 405, a curved rod 406 and a clamping groove 407, the first handle 402 is arranged on the left side of the threaded rod 401, the outer wall of the left side of the threaded rod 401 is fixedly connected with the inner wall of the middle of the first handle 402, the first supporting plate 403 is arranged on the right side of the threaded rod 401, the outer wall of the right side of the threaded rod 401 is in threaded connection with the inner wall of the middle of the first supporting plate 403, the threaded rod 401 is driven to rotate to move on the left side of an inner box of the first supporting plate 403 by rotating the first handle 402, the transverse plate 404 is arranged at the bottom end of the first supporting plate 403, the bottom end of the first supporting plate 403, the outer wall of the right side below of curved bar 406 is connected with the internal surface of draw-in groove 407 mutually, draw-in groove 407 is seted up at the below right side inner wall of manipulator 1, threaded rod 401 makes curved bar 406 case left side removal insert can be fast with manipulator 1 fixed mounting on diaphragm 404 in the draw-in groove 407 on manipulator 1 through first bearing 405 rotation in curved bar 406, draw-in groove 407 front and back open the design, manipulator 1 according to the in-service use needs select can, the outer wall processing of the first in command 402 has the wear line, increase and rotate frictional force.

The below left side of manipulator 1 is equipped with riser 2, and the below outer wall of riser 2 and the middle fluting internal surface clearance fit of diaphragm 404, diaphragm 404 drive manipulator 1 reciprocate at the outer wall of riser 2 and realize going up and down, and the below of riser 2 is equipped with bottom plate 3.

Example 2

As an optional situation, referring to fig. 1, 4 and 5, in the full-automatic feeding manipulator of the cold heading device, a lifting mechanism 5 is installed inside a transverse plate 404, the lifting mechanism 5 includes a worm 501, a second handle 502, a second bearing 503, a worm wheel 504, a pin shaft 505, a slider 506 and a first sliding groove 507, the second handle 502 is installed on the left side of the worm 501, the left outer wall of the worm 501 is fixedly connected with the middle inner wall of the second handle 502, the left outer wall of the worm 501 is rotatably connected with the left upper inner wall of the transverse plate 404 through the second bearing 503, the worm 501 is driven to rotate in the transverse plate 404 through the second bearing 503 by rotating the second handle 502, the worm wheel 504 is installed below the right side of the worm 501, the right lower side of the worm 501 is meshed with the teeth of the worm wheel 504, the middle inner wall of the worm wheel 504 is rotatably connected with the left rear end face of the groove of the transverse plate 404 through the pin shaft 505, the worm wheel 504 is rotated in the left groove of the, the tooth meshing that worm wheel 504 and the below left side of riser 2 were processed links to each other, the right side of worm wheel 504 is equipped with slider 506, the right-hand member of slider 506 and the fluting right side intermediate surface fixed connection of horizontal board 404, slider 506 and first spout 507 slip joint, first spout 507 is seted up at the right side inner wall of riser 2, engaging force between the tooth through worm wheel 504 and the below left side of riser 2 processing makes slider 506 in the fluting of horizontal board 404 slide from top to bottom in the first spout 507 on riser 2, thereby make manipulator 1 on horizontal board 404 realize lift adjustment at the outer wall of riser 2, and second spout 507 prevents that slider 506 from derailing.

The scheme in this embodiment can be selectively combined with the scheme in other embodiments.

Example 3

As an optional situation, referring to fig. 1 and 3, in the full-automatic feeding manipulator of the cold heading equipment, an adjusting mechanism 6 is installed below a vertical plate 2, the adjusting mechanism 6 includes a slide rail 601, a second slide groove 602, a second support plate 603, a compression spring 604, a top rod 605, a rubber ring 606, a sphere 607, a through groove 608 and a third support plate 609, the bottom end of the slide rail 601 is fixedly connected with the middle of the top end of a bottom plate 3, the slide rail 601 is slidably clamped with the second slide groove 602, the second slide groove 602 is arranged on the inner wall of the middle of the lower portion of the vertical plate 2, the second slide groove 602 on the vertical plate 2 is slidably adjusted forward and backward on the slide rail 601 on the bottom plate 3 to process a working station of the manipulator 1, the left side of the slide rail 601 is provided with the second support plate 603, the right end of the second support plate 603 is fixedly connected with the outer wall of the left side of the lower portion of the vertical plate 2, the bottom end of a compression spring 604 is fixedly connected with the middle of the top end of a top rod 605, the lower outer wall of the top rod 605 is fixedly connected with the middle inner wall of a rubber ring 606, the rubber ring 606 is moved upwards to enable the top rod 605 to move upwards to enable the compression spring 604 to extrude, otherwise, the top rod 605 can be reset through the elasticity of the compression spring 604, the bottom end of the top rod 605 is fixedly connected with the middle of the top end of a sphere 607, the bottom end of the sphere 606 is attached to the middle surface of the bottom end of a through groove 608, the through groove 608 is arranged on the upper left inner wall of a third support plate 609, the top rods 605 on the two sides respectively drive the sphere 607 to move downwards to reset and tightly abut against the through groove 608 on the third support plates 609 on the two sides to enable the manipulator 1 to be limited and fixed after the station is adjusted, the through groove 608, the third support plate 609 and the slide rail 601 are equal, The rubber ring 606, the sphere 607, the through groove 608 and the third support plate 609 are symmetrically distributed on the left side and the right side by taking the center line of the vertical plate 2 as the center, so that the mechanical arm 1 is limited stably.

The scheme in this embodiment can be selectively combined with the scheme in other embodiments.

Example 4

When the full-automatic feeding manipulator of the cold heading equipment is used, firstly, the left end of the manipulator is manually attached to the right end of a transverse plate 404, a first handle 402 is rotated to drive a threaded rod 401 to rotate and move on the left side of a box in a first supporting plate 403, the threaded rod 401 rotates in a curved rod 406 through a first bearing 405 to enable the left side of the curved rod 406 to move and be inserted into a clamping groove 407 on the manipulator 1, so that the manipulator 1 can be quickly and fixedly arranged on the transverse plate 404, a second handle 502 is rotated to drive a worm 501 to rotate in the transverse plate 404 through a second bearing 503, a worm wheel 504 rotates positively and negatively in a groove on the left side of the transverse plate 404 through a pin shaft 505 through the meshing force between the teeth of the worm wheel 501 and the teeth processed on the left side below a vertical plate 2, a sliding block 506 in the groove of the transverse plate 404 slides up and down in a first sliding groove 507 on the vertical plate 2 through the meshing force between the teeth of the, therefore, the manipulator 1 on the transverse plate 404 is lifted and adjusted on the outer wall of the vertical plate 2, the second sliding groove 602 on the vertical plate 2 is manually slid back and forth on the sliding rail 601 on the bottom plate 3 to adjust the processing station of the manipulator 1, the rubber ring 606 is moved upwards to enable the ejector rod 605 to move upwards to enable the compression spring 604 to extrude, otherwise, the ejector rod 605 on the two sides can reset through the elasticity of the compression spring 604, the sphere 607 is respectively driven by the ejector rods 605 on the two sides to move downwards to reset and tightly abut against the through groove 608 on the third supporting plates 609 on the two sides, and the manipulator 1 is limited and fixed after the.

In the description of the present invention, it is to be understood that the terms "coaxial", "bottom", "one end", "top", "middle", "other end", "upper", "one side", "top", "inner", "front", "center", "both ends", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.

In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "disposed," "connected," "secured," "screwed" and the like are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; the terms may be directly connected or indirectly connected through an intermediate, and may be communication between two elements or interaction relationship between two elements, unless otherwise specifically limited, and the specific meaning of the terms in the present invention will be understood by those skilled in the art according to specific situations.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.