CN105173278B - A kind of Auto-unboxing system based on industrial robot - Google Patents

Abstract

The invention relates to an automatic unpacking system based on an industrial robot, which includes a main body frame, two side cutter devices, a main cutter device, four cover mechanisms and a lifting and picking device, and the side cutter devices are installed on On both sides of the front of the main frame, the main cutter device is installed on the top of the front of the main frame, the flip mechanism is symmetrically installed on the bottom of the main frame, and the lifting device is installed on the rear of the main frame. The present invention integrates all the processes of unpacking and picking up objects at one station, which greatly improves production efficiency, reduces the labor intensity of workers, replaces people to do repetitive and monotonous work, improves efficiency, saves resources, and makes operators in a It is relatively safe and labor-saving, and saves a lot of time and reduces the labor intensity of operators.

Description

An automatic unpacking system based on industrial robots

technical field

The invention relates to an automatic unpacking system based on industrial robots, which belongs to the field of industrial robots.

Background technique

At present, in the actual application of industrial production, many factories have realized the system design and application of automatic packaging and sealing of goods, but in actual production, it is often necessary to take out the goods sealed in cartons from the cartons for processing. next process. For the processes of cutting the sealing tape, opening the box cover, and taking out the contents of the box, if a special mechanism is used to complete this operation, industrial automation can be realized to the greatest extent. The unpacking system is the key equipment of the production line, and its quality directly affects Productivity. However, the unpacking systems currently on the market basically realize this function at multiple stations. There are many stations, large floor space, and low production efficiency; there are also many manual unpacking systems used in production, which is time-consuming and laborious.

Contents of the invention

The purpose of the present invention is to optimize the problem of low multi-station efficiency of the existing unpacking system, and provide an automatic unpacking system based on industrial robots, which is used in industrial production to realize automatic unpacking of cartons sealed with sealing tape The function of sealing and taking out the contents of the box.

For solving the problems of the technologies described above, design of the present invention is:

Distribute the various processes of unpacking to different surfaces of a rectangular parallelepiped profile frame, first realize the function of cutting the sealing tape on the side, then cut the main sealing tape on the upper side, and then use the vacuum suction cup to open the box cover, and finally use the The ball screw removes the contents of the box.

According to above-mentioned inventive concept, the present invention adopts following technical scheme:

An automatic unpacking system based on industrial robots, including a main frame, two side cutter devices, a main cutter device, four cover mechanisms and a lifting and picking device, the side cutter devices are installed in front of the main frame The main cutter device is installed on the top of the front of the main frame, the flip mechanism is symmetrically installed on the bottom of the main frame, and the lifting and picking device is installed on the rear of the main frame.

The main frame includes four first vertical beams, two first beams, two second beams, four second vertical beams, two third beams, a fourth beam, and four fifth beams; The two first beams and the two second beams are vertically fixed alternately to form a rectangular frame, four first vertical frames are fixed at the bottom of the four corners, four second vertical frames are fixed at the top of the four corners, and four second vertical frames are fixed at the four second vertical frames. The top of the frame is fixed to a rectangular frame consisting of four fifth beams, a fourth beam is fixed to the middle of the two second vertical frames above the second beam, and two third beams are fixed to the upper and lower sides of the fourth beam. A flange is fixed on the two third beams and the fourth beam.

The side cutter device includes a U-shaped bracket installed on the second vertical frame opposite to the flange, the first bracket and the second bracket form a stable tripod, and the third bracket is connected to the two second brackets for reinforcement. The connection of the tripod is stable, the linear guide rail is installed on the second bracket, the slide plate is installed on the linear guide rail, the fixed frame is installed on the slide plate, the two first springs are installed on the two rods of the fixed frame, and the first rodless cylinder passes through the two The first L-shaped bracket is fixed on the fixed frame, the first swing cylinder is installed on the first rodless cylinder through the fourth bracket, the first knife rest is installed on the first swing cylinder, and one end of the first standard cylinder is fixed on the fifth bracket. The other end of the second vertical frame is fixed on the slide plate through the first cylinder connector and the sixth support.

The main cutter device includes a first thin plate and a second thin plate welded on the second beam, two reinforcing plates are fixed on the second thin plate by screws, two connecting plates are connected on the two reinforcing plates by screws, and the second The rodless cylinder is fixed on the two connecting plates through two brackets, the second swing cylinder is installed on the second rodless cylinder through the seventh support, and the second knife rest is fixed on the second swing cylinder by screws.

The flip mechanism includes that the first cross bar is installed on the two first vertical frames through two first bearings, the rocker arm is welded on the first cross bar, the cylinder attachment one is connected with a pin through the hole on the rocker arm, and the cylinder is connected The two ends of part one are respectively connected with cylinder accessory one and the second standard cylinder, the eighth bracket is connected with the trunnion of cylinder connection part one, the eighth bracket is fixed on the fixed bracket, and the fixed bracket is connected to the first beam or the second beam , the other end of the second standard cylinder is connected to the cylinder attachment two through the cylinder connector two, and the cylinder attachment two is welded on the fixed bracket; two sets of the first Harvard structure one and two sets of the second Harvard structure two are welded on the first rotating shaft , respectively arranged at both ends of the rocker arm, the sleeve equipped with the second spring is connected with the Harvard structure two by screws, the slide rod is connected with the sleeve through the sleeve cover, the connecting block is welded on the slide rod, and the bearing with seat is fixed by screws On the connection block, both ends of the second rotating shaft are connected to two bearings with seats, two sets of second Harvard structure 1 and two sets of second Harvard structure 2 are welded to the second rotating shaft, and two vacuum suction cups pass through the vacuum suction cups The connecting piece is fixed to the second Harvard structure two, and the two torsion springs are fixed by a bearing with a seat and a pin connected to the second rotating shaft.

The lifting and fetching device includes welding the first fixed beam of the hanger with the two hanger brackets, the two reinforcement frames are connected with the hanger brackets by screws through the first backing plate, and the reinforcement frame and the first fixed beam of the hanger pass through the second The backing plate and the third backing plate are connected with the two fifth beams by screws; one end of the two guide rail backing plate brackets is fixed with the first fixed beam of the hanger by a pad block, and the other end is welded with the second fixed beam of the hanger. The second fixed beam of the frame is fixed to the two first beams with screws through two pads, and the two guide rail backing plates are welded on the two guide rail backing plate brackets; the motor fixing frame is connected to the two guide rail backing plate brackets through screws, L The backing plate of the L-shaped bracket is welded on the motor fixing frame. One end of the L-shaped bracket is connected with the motor through screws, and the other end is connected with the backing plate of the L-shaped bracket through screws. One end of the coupling is connected with the motor, and the other end is connected with the ball screw. One end of the screw is connected to the first bearing support unit, the first bearing support unit is connected to the bearing backing plate through screws, the bearing backing plate is welded on the bearing fixing frame one, the other end of the ball screw is connected to the second bearing supporting unit, and the second The bearing support unit is connected to the bearing fixing frame 2 by screws, the bearing fixing frame 1 and the bearing fixing frame 2 are connected to the two guide rail backing plate brackets by screws, the screw nut of the ball screw is connected to the worktable through a connector, and the two guide rails are connected by screws. The bracket is connected to the two guide rail backing plates by screws, the linear guide rails are installed on the two guide rail brackets, the two ends of the workbench are connected to the linear guide rails by screws, the two suction cup hangers are connected to the suction cup hanger backing plates by screws, and the two suction cups The hanger backing plate is welded on the workbench, and the small hole suction cup is installed on the two suction cup hangers.

Compared with the prior art, the present invention has the following prominent essential features and significant advantages:

The present invention integrates the unpacking process and all the processes of picking up objects at one station, which greatly improves the production efficiency, reduces the labor intensity of workers, replaces people to do repetitive and monotonous work, improves efficiency, saves resources, and makes operators in a It is relatively safe and labor-saving, and saves a lot of time and reduces the labor intensity of operators.

Description of drawings

Figure 1 is a structural block diagram of an automatic unpacking system based on industrial robots.

Fig. 2 is a general diagram of the profile frame structure used as a whole.

Fig. 3 is a schematic diagram of the side cutter device.

Fig. 4 is a schematic diagram of a side cutter device.

Fig. 5 is a schematic diagram of the main cutter device.

Fig. 6 is a schematic diagram of the flip mechanism device.

Fig. 7 is a schematic diagram of the sleeve of the flip mechanism.

Fig. 8 is a device schematic diagram of the fetching mechanism.

Fig. 9 is a device schematic diagram of the fetching mechanism.

detailed description

The specific implementation of the present invention will be further described below in conjunction with the accompanying drawings.

As shown in Figure 1, an automatic unpacking system based on industrial robots includes a main body frame 1, two side cutter devices 2, a main cutter device 3, four flip mechanisms 4 and a lifting and picking device 5, The side cutter device 2 is installed on both sides of the front of the main frame 1, the main cutter device 3 is installed on the top of the front of the main frame 1, the flip mechanism 4 is symmetrically installed on the bottom of the main frame 1, and the lifting The fetching device 5 is installed at the rear of the main body frame 1 .

As shown in Figure 2, the main body frame 1 includes four first vertical frames 10, two first cross beams 11, two second cross beams 12, four second vertical frames 9, two third cross beams 7, A fourth crossbeam 8, four fifth crossbeams 13; said two first crossbeams 11 and two second crossbeams 12 are vertically fixed alternately to form a rectangular frame, and four first vertical frames 10 are fixed at the bottom of its four corners, Four second vertical frames 9 are fixed on the top of the four corners, and a rectangular frame consisting of four fifth beams 13 is fixed on top of the four second vertical frames 9. A fourth beam 8 is fixed on two of the second beams 12. In the middle of the second vertical frame 9 , two third beams 7 are fixed on the upper and lower sides of the fourth beam 8 , and a flange 6 is fixed on the two third beams 7 and the fourth beam 8 .

As shown in Figures 3 and 4, the side cutter device 2 includes a U-shaped bracket 31 installed on the second vertical frame 9 opposite to the flange 6, the first bracket 25 and the second bracket 26 to form a To stabilize the tripod, the third bracket 27 is connected to the two second brackets 26 to strengthen the connection of the stable tripod, the linear guide rail 24 is installed on the second bracket 26, the slide plate 16 is installed on the linear guide rail 24, and the fixed frame 17 is installed on the slide plate 16 , two first springs 23 are installed on the two rods of the fixed frame 17, the first rodless cylinder 19 is fixed on the fixed frame 17 through two L-shaped brackets 18, and the first swing cylinder 22 is installed on the fixed frame 17 through the fourth bracket 20. On the first rodless cylinder 19, the first tool rest 21 is installed on the first swing cylinder 22, one end of the first standard cylinder 15 is fixed on the second vertical frame 9 through the fifth bracket 30, and the other end is passed through the first cylinder connector 29 And the sixth bracket 28 is fixed on the slide plate 16.

As shown in Figure 5, the main cutter device 3 includes a first thin plate 32 and a second thin plate 33 welded on the second beam 12, and two reinforcement plates 34 are fixed on the second thin plate 33 by screws. Above, the two connecting plates 35 are connected on the two reinforcing plates 34 by screws, the second rodless cylinder 37 is fixed on the two connecting plates 35 through two brackets 36, and the second swing cylinder 39 is installed on the two connecting plates 35 through the seventh bracket 40. On the second rodless cylinder 37, the second knife rest 38 is fixed on the second swing cylinder 39 by screws.

As shown in FIGS. 6 and 7 , the flip mechanism 4 includes a first rotating shaft 50 mounted on two first vertical frames 10 through two first bearings 49 , and the rocker arm 48 is welded on the first rotating shaft 50 . Cylinder attachment one 46 is connected with pins through the hole on the rocker arm 48, the two ends of cylinder attachment one 45 are respectively connected with cylinder attachment one 46 and the second standard cylinder 44, and the eighth support 47 is connected with the trunnion of cylinder attachment one 45 , the eighth bracket 47 is fixed on the fixed bracket 41, the fixed bracket 41 is connected to the first crossbeam 11 or the second crossbeam 12, the other end of the second standard cylinder 44 is connected with the cylinder attachment two 42 through the cylinder connector two 43, the cylinder Attachment II 42 is welded on the fixed bracket 41; two sets of the first Harvard structure one 51 and two sets of the second Harvard structure two 52 are welded on the first rotating shaft 50, respectively arranged at both ends of the rocker arm 48 and equipped with the second spring The sleeve 53 of 65 is connected with the Harvard structure 2 52 by screws, the slide bar 55 is connected with the sleeve 53 through the sleeve cover 54, the connecting block 56 is welded on the slide bar 55, and the bearing with seat 57 is fixed on the connecting block 56 by screws , the two ends of the second rotating shaft 58 are connected to two bearings with seats 57, two sets of second Harvard structure 1 59 and two sets of second Harvard structure 2 62 are welded to the second rotating shaft 58, and two vacuum chucks 64 pass through The vacuum chuck connecting piece 63 is fixed to the second Harvard structure 2 62 , and the two torsion springs 61 are fixed through the belt seat bearing 57 and the pin 60 connected to the second rotating shaft 58 .

As shown in Fig. 8 and Fig. 9, described elevating pick-up device 5 comprises that hanger first fixed beam 71 is welded with two hanger brackets 70, and two reinforcing frames 67 pass through first backing plate 69 and hanger bracket 70 to use. Screw connection, the reinforcing frame 67 and the first fixed crossbeam 71 of the hanger are connected with the two fifth crossbeams 13 by screws through the second backing plate 66 and the third backing plate 68; The first fixed beam 71 of the hanger is fixed with screws, and the other end is welded with the second fixed beam 87 of the hanger. The second fixed beam 87 of the hanger is fixed with the two first beams 11 by two pads 88 with screws, and the two guide rails Backing plate 72 is welded on two guide rail backing plate supports 78; Motor fixed mount 89 is connected with two guide rail backing plate supports 78 by screw, L-shaped support backing plate 73 is welded on the motor fixed mount 89, L-shaped support 75 one ends and The motor 74 is connected by screws, and the other end is connected with the L-shaped bracket backing plate 73 by screws. One end of the shaft coupling 91 is connected with the motor 74, and the other end is connected with the ball screw 81. One end of the ball screw 81 is connected with the first bearing support unit 76 connection, the first bearing support unit 76 is connected with the bearing backing plate 77 by screws, the bearing backing plate 77 is welded on the bearing fixing frame one 92, the other end of the ball screw 81 is connected with the second bearing supporting unit 95, and the second bearing supporting unit 95 is connected with bearing fixing frame 2 94 by screws (the bearing supporting units are equipped with corresponding bearings here, the second bearing 93 is installed in the first bearing supporting unit, and the second bearing supporting unit is the same), bearing fixing frame 1 92 and bearing Fixture two 94 is connected with two guide rail backing plates 78 by screws, the screw nut of ball screw 81 is connected with workbench 83 through connector 82, two guide rail supports 79 are connected with two guide rail backing plates 72 by screws, The linear guide rail 80 is installed on two guide rail brackets 79, the two ends of the workbench 83 are connected with the linear guide rail 80 by screws, the two suction cup hangers 84 are connected with the suction cup hanger backing plate 85 by screws, and the two suction cup hanger backing plates 85 Welded on the workbench 83, the small hole suction cup 86 is installed on two suction cup hangers 84.

The use process of the device of the present invention is as follows: cutting the sealing tape on both sides of the carton - cutting the sealing tape on the top of the box cover - the vacuum suction cup opens the box cover to 110 degrees - the motor drives the ball screw to drive the small hole suction cup to remove the sealing tape in the box Items are taken out.

First, as shown in Figure 3, the specific process of cutting the sealing tape by the side cutter device 2 is as follows: when the carton to be operated is located on the station, the main frame 1 is turned over by the industrial robot so that the side cutter device 2 is directly facing the carton. Cover, the first standard cylinder 15 drives the whole first rodless cylinder 19 and the first swing cylinder 22 through the slide plate 16 to move along the linear guide rail 24 to a position suitable for cutting the side sealing tape, and the first swing cylinder 22 is equipped with the first Knife rest 21, a utility blade is housed on the first knife rest 21, and the first swing cylinder and the first rodless cylinder are connected and fixed by the fourth support 20 here. The first swing cylinder 22 rotates 90 degrees to make the blade turn to the cutting angle, and then the first rodless cylinder 19 drives the first swing cylinder 22 and the blade device to move one end distance to realize cutting the side sealing tape. The first spring 23 on the floating device here is to ensure the smooth cutting of the sealing tape when the carton is dislocated. After this process, the sealing tape on the side of the carton is completely cut.

Secondly, Fig. 5 shows the specific process of cutting the main sealing tape by the main cutter. After connecting the side cutting in the previous step, the industrial robot will face the blade on the main cutter device 3 of the system against the sealing tape above the carton, and the second rodless cylinder 37 will drive the second swing cylinder 39 and the second blade-mounted blade on it. Knife rest 38 moves one end distance and realizes the cutting of the sealing tape directly above. Here, the swing cylinder and the rodless cylinder are connected and fixed through the seventh bracket 40 .

Then, Fig. 6 shows the specific process of opening the lid. The essence is a process of four-linkage movement. The carton has 4 half-sided lids, so there are 4 flap mechanisms here. The motion process of the following flip mechanism. First, the second standard cylinder 44 is connected with the rocker arm 48 through the eighth bracket 47, the rocker arm is welded on the first rotating shaft 50, the first rotating shaft is equipped with two sleeves 53, and the second spring 65 is housed in the sleeve And the slide bar 55, the slide bar is equipped with the second rotating shaft 58 through the bearing with seat, and two vacuum suckers 64 are housed on this axle, and two torsion springs 61 are housed between this shaft and the bearing with seat, and the torsion spring comes through the pin fixed. The torsion spring and the spring here are used for reset. Here, when the vacuum suction cup sucks the case cover, the cylinder drives the rocker arm to rotate, and the rocker arm drives the sleeve and the slide bar to rotate. Due to the transmission of force, the second rotating shaft 58 also drives the vacuum suction cup to rotate at last, so that the case cover is in the same position as the initial position. At an angle of 110 degrees. The clamshell mechanisms here are used in pairs. First, one pair of clamshell mechanisms opens the outer box cover, and then the other pair opens the inner box cover. When the items in the box are taken out by the lifting device, the vacuum sucker blows air and the flip process End.

Finally, as shown in Figure 8, the specific process of the lifting and picking device is shown. After the flip mechanism opens all four box covers, the motor 74 drives the ball screw 81 to move, and the ball screw drives the workbench 83 to move up and down through a connector 82. In order to ensure the smooth movement of the workbench, the workbench must be installed on On the two linear guide rails 80, the workbench is connected by two suction cup hangers 84 and small hole suction cups 86. The picking process is as follows: Driven by the above series of mechanisms, the small-hole suction cup first moves downward to guide the object in the box, then the small-hole suction cup grabs the object, and then the small-hole suction cup rises under the drive of the ball screw To achieve the function of picking up objects, when the items in the box are lifted to the height of the carton, the flip mechanism stops working at this time, waiting for the next step.

Claims (5)

1. An automatic unpacking system based on industrial robots, characterized in that it includes a main frame (1), two side cutter devices (2), a main cutter device (3), and four flip mechanisms (4) And a lifting device (5), the side cutter device (2) is installed on both sides of the front of the main frame (1), and the main cutter device (3) is installed on the top of the front of the main frame (1) , the clamshell mechanism (4) is symmetrically installed on the bottom of the main frame (1), and the lifting device (5) is installed on the rear of the main frame (1); The main frame (1) includes four first vertical frames (10), two first beams (11), two second beams (12), four second vertical frames (9), two Three beams (7), a fourth beam (8), and four fifth beams (13); the two first beams (11) and the two second beams (12) are alternately fixed vertically to form a rectangular frame, The bottom of its four corners fixes four first vertical frames (10), the top of four corners fixes four second vertical frames (9), and the tops of four second vertical frames (9) are fixed by four fifth beams ( 13) A rectangular frame consisting of a fourth crossbeam (8) fixed on the middle of the two second vertical frames (9) above the second crossbeam (12), and two third crossbeams (7) fixed on the fourth crossbeam ( On the upper and lower sides of 8), a flange (6) is fixed on the two third beams (7) and the fourth beam (8). 2. The automatic unpacking system based on industrial robots according to claim 1, characterized in that, the side cutter device (2) includes a second vertical frame (9) installed on the opposite side of the flange (6) ) on the U-shaped bracket (31), the first bracket (25) and the second bracket (26) constitute a stable tripod, and the third bracket (27) is connected to the two second brackets (26) to strengthen the connection of the stable tripod , the linear guide rail (24) is installed on the second bracket (26), the slide plate (16) is installed on the linear guide rail (24), the fixing frame (17) is installed on the slide plate (16), and the two first springs (23) Installed on the two rods of the fixed frame (17), the first rodless cylinder (19) is fixed on the fixed frame (17) through two L-shaped brackets (18), and the first swing cylinder (22) is passed through the fourth bracket (20) is installed on the first rodless cylinder (19), the first knife rest (21) is installed on the first swing cylinder (22), and one end of the first standard cylinder (15) is fixed on the The other end of the second vertical frame (9) is fixed on the slide plate (16) through the first cylinder connector (29) and the sixth bracket (28). 3. The automatic unpacking system based on industrial robots according to claim 1, characterized in that, the main cutter device (3) includes a first thin plate (32) and a second thin plate (33) welded on the second beam (12), two reinforcing plates (34) are fixed on the second thin plate (33) by screws, two connecting plates (35) are connected on the two reinforcing plates (34) by screws, and the second rodless cylinder ( 37) It is fixed on the two connecting plates (35) through two brackets (36), the second swing cylinder (39) is installed on the second rodless cylinder (37) through the seventh bracket (40), and the second knife rest (38) is fixed on the second swing cylinder (39) by screws. 4. The automatic unpacking system based on industrial robots according to claim 1, characterized in that, the flip mechanism (4) includes a first crossbar (50) mounted on two first bearings (49) On the first vertical frame (10), the rocker arm (48) is welded on the first crossbar (50), the cylinder attachment one (46) is connected with a pin through the hole on the rocker arm (48), and the cylinder connector one (45 ) are respectively connected to the cylinder accessory one (46) and the second standard cylinder (44), the eighth bracket (47) is connected to the trunnion of the cylinder connector one (45), and the eighth bracket (47) is fixed on the fixed bracket (41), the fixed bracket (41) is connected to the first crossbeam (11) or the second crossbeam (12), and the other end of the second standard cylinder (44) is connected to the cylinder attachment two ( 42) are connected, and the cylinder attachment two (42) is welded on the fixed bracket (41); two sets of the first Harvard structure one (51), and two sets of the second Harvard structure two (52) are welded on the first rotating shaft (50) , respectively arranged at both ends of the rocker arm (48), the sleeve (53) equipped with the second spring (65) is connected with the Harvard structure 2 (52) by screws, and the slide rod (55) is connected with the sleeve cover (54) The sleeve (53) is connected, the connecting block (56) is welded on the slide bar (55), the bearing with seat (57) is fixed on the connecting block (56) by screws, and the two ends of the second rotating shaft (58) are connected to the two Two sets of second Harvard structure one (59) and two sets of second Harvard structure two (62) are welded to the second rotating shaft (58) on the first belt seat bearing (57), and two vacuum suction cups (64) pass through the vacuum The suction cup connector (63) is fixed to the second Harvard structure two (62), and the two torsion springs (61) are fixed by a bearing with seat (57) and a pin (60) connected to the second rotating shaft (58). 5. The automatic unpacking system based on industrial robots according to claim 1, characterized in that, the lifting and picking device (5) includes a hanger first fixed beam (71) and two hanger brackets (70) Welding, the two reinforcing frames (67) are connected with the hanger bracket (70) by screws through the first backing plate (69), and the reinforcing frame (67) and the first fixed beam (71) of the hanger pass through the second backing plate (66 ) and the third backing plate (68) are connected with the two fifth beams (13) by screws; one end of the two guide rail backing plate brackets (78) is connected to the first fixed beam (71) of the hanger through the spacer (90) with screws Fixed, the other end is welded with the second fixed beam (87) of the hanger, the second fixed beam (87) of the hanger is fixed with two spacers (88) and the two first beams (11) with screws, and the two rail pads The plate (72) is welded on the two rail backing brackets (78); the motor fixing frame (89) is connected with the two rail backing brackets (78) by screws, and the L-shaped bracket backing plate (73) is welded on the motor fixing frame On (89), one end of the L-shaped support (75) is connected to the motor (74) by screws, the other end is connected to the L-shaped support backing plate (73) by screws, and one end of the coupling (91) is connected to the motor (74). The other end is connected with the ball screw (81), one end of the ball screw (81) is connected with the first bearing support unit (76), the first bearing support unit (76) is connected with the bearing pad (77) by screws, and the bearing pad The plate (77) is welded on the bearing fixing frame one (92), the other end of the ball screw (81) is connected with the second bearing supporting unit (95), and the second bearing supporting unit (95) is connected with the bearing fixing frame two (94) Through screw connection, bearing fixing frame 1 (92) and bearing fixing frame 2 (94) are connected with two guide rail pad brackets (78) through screws, and the screw nut of the ball screw (81) is connected with the connector (82) The workbench (83) is connected, the two guide rail brackets (79) and the two guide rail backing plates (72) are connected by screws, the linear guide rail (80) is installed on the two guide rail brackets (79), and the two ends of the workbench (83) It is connected with the linear guide rail (80) by screws, and the two suction cup hangers (84) are connected with the suction cup hanger backing plate (85) by screws, and the two suction cup hanger backing plates (85) are welded on the workbench (83), Small hole sucker (86) is installed on two sucker hangers (84).