CN114535986B

CN114535986B - Assembly structure for mounting new energy automobile body and battery

Info

Publication number: CN114535986B
Application number: CN202210329710.3A
Authority: CN
Inventors: 周海燕; 李波; 张亮; 何绘娜
Original assignee: Songuo Motors Co Ltd
Current assignee: Songuo Motors Co Ltd
Priority date: 2022-03-30
Filing date: 2022-03-30
Publication date: 2023-04-25
Anticipated expiration: 2042-03-30
Also published as: CN114535986A

Abstract

The invention discloses an assembly structure for installing a new energy automobile body and a battery, which comprises the automobile body and the battery, and also comprises a foundation, wherein the foundation is provided with an installation opening, and one side of the foundation is provided with a conveying mechanism for moving the automobile body; the mounting hole be close to edge and be equipped with the storage frame that is used for placing the battery, its middle part is equipped with the lift, lift corner be equipped with the manipulator that is used for tightening the bolt, the lift middle part be equipped with rotatable carousel, the carousel outside be equipped with limiting plate and dancer roll in proper order, limiting plate one side be equipped with be used for detecting battery position deviation and advance the first detection sensor subassembly of position. According to the invention, the battery storage rack and the battery assembly station are arranged together, because the storage rack is provided with two groups, one group can provide materials for the lifter when the battery is placed in the other group, and the storage rack and the lifter are not interfered with each other, so that the battery feeding and the battery assembly are not influenced, and the operation procedure is optimized.

Description

Assembly structure for mounting new energy automobile body and battery

Technical Field

The invention relates to the technical field of new energy automobile assembly, in particular to an assembly structure for installing a new energy automobile body and a battery.

Background

Currently, with the development of the electric automobile industry, new automobile types and improved automobile types are continuously increased, the types of power batteries are various, the change points are gradually increased, the power batteries are used as core components, and the safety and reliability are particularly important for the whole automobile installation.

When carrying out pure electric vehicles power battery installation at present, because power battery is in the vehicle lower part, fastening bolt also is in the vehicle below, direct mount power battery has the risk of falling, damaging power battery, need lift the back with the vehicle, just can install after the support is installed additional in power battery lower part, but because power battery is bulky, the quality is heavy, remove the difficulty, at the in-process of installation, just can put in place the bolt assembly after need aligning the mounting hole of battery box with vehicle bottom plate, because the battery box is too heavy, difficult position adjustment, so it is more time consuming and laborious usually when the assembly.

Therefore, how to realize accurate positioning of the power battery and the vehicle body and improve the installation accuracy is a technical problem to be solved urgently by those skilled in the art.

Disclosure of Invention

Aiming at the defects in the prior art, the invention provides an assembly structure for mounting a new energy automobile body and a battery, which is used for transferring the battery to an assembly part, positioning, lifting and fixing the battery, and the mounting process is carried out at the same position, so that the time consumption is short, the operation is simple, and the production beat, the operation process safety, time saving and labor saving are met.

In order to achieve the above purpose, the invention provides the following technical scheme:

the utility model provides an assembly structure for new energy automobile body and battery installation, includes automobile body and battery, still includes the ground, the ground set up the installing port, ground one side be equipped with the conveying mechanism who is used for removing the automobile body.

The mounting hole be close to edge and be equipped with the storage frame that is used for placing the battery, its middle part is equipped with the lift, lift corner be equipped with the manipulator that is used for tightening the bolt, the lift middle part be equipped with rotatable carousel, the carousel outside be equipped with limiting plate and dancer roll in proper order, limiting plate one side be equipped with be used for detecting battery position deviation and advance the first detection sensor subassembly of position.

Preferably, the conveying mechanism comprises a mounting seat, a conveying roller and a guide plate, and the mounting seat is movably connected with the guide plate.

Preferably, the material storage rack comprises a lifting base, a frame body and a supporting plate.

Preferably, the storage rack further comprises a pushing cylinder.

Preferably, the supporting plate comprises a plurality of supporting rollers, driven gears are arranged at the outer ends of the supporting rollers, and driving gears meshed with the driven gears are arranged at the outer ends of the adjusting rollers.

Preferably, the lower part of the elevator is provided with a roller, one side of the roller installation shaft is provided with a positioning rod, and a second detection sensor component matched with the positioning rod is arranged in the installation opening.

Preferably, the storage racks are provided with two groups.

Preferably, the manipulator comprises a first electric push rod, a screwing motor, a second electric push rod and a clamping hand.

Preferably, a fitting channel for placing the bolt is arranged on one side of the upper part in the mounting port, a long groove matched with the clamping hand is formed on one side of the fitting channel, and an elastic stop protrusion is arranged at the end part of the fitting channel.

Preferably, the automatic feeding device further comprises a peripheral controller, wherein the controller is respectively connected with the first detection sensor assembly and the second detection sensor assembly, and the controller is also respectively connected with the conveying roller, the regulating roller, the rotary table, the manipulator, the lifter, the roller, the pushing cylinder and the base.

Compared with the prior art, the invention has the beneficial effects that:

1. according to the invention, the battery storage rack and the battery assembling station are arranged together, because the storage rack is provided with two groups, one group can provide materials for the lifter when the battery is placed, and the storage rack and the lifter are not interfered with each other, so that the battery feeding and the battery assembling are not influenced, the operation procedure is optimized, the assembling efficiency is improved, and the production beat is satisfied.

The device transfers the battery to the assembly part, then positions, lifts and fixes the battery, and the installation procedure is carried out at the same position, so that the time consumption is short, the operation is simple, and the operation process is safe, time-saving and labor-saving.

2. According to the invention, during assembly, the regulating roller can move materials from the material storage rack to the lifter, the position of the battery relative to the lifter can be horizontally adjusted, the rotary table is matched with the rotary adjustment of the battery, the influence of inclined placement of the battery on assembly after feeding can be eliminated, whether the battery is inclined or not is timely known to be positioned in the middle of the rotary table according to the matching use of the controller and the first detection sensor component in the adjustment process, the alignment of a hole position of the battery and a reserved mounting hole of a vehicle body is ensured, the adjustment operation is simple, two dimensions can be adjusted, and the assembly requirement is met.

3. When the battery is assembled, the vehicle body is placed on the conveying mechanism, and the vehicle body is moved to the position above the mounting port through the conveying mechanism, so that the battery can be conveniently and subsequently mounted; when the car body is moved, the wheels are positioned between the guide plates, and the guide plates are detachably connected with the mounting seats, so that the car body can be adaptively adjusted according to the specifications of the wheels, and different requirements are met.

The guide plate and the conveying roller can ensure the moving position of the vehicle body, so as to ensure the position of a reserved mounting hole on the lower side of the vehicle body; and the carousel can ensure the mounted position of battery with the dancer roll, and the cooperation is used like this and can be ensured that battery mounting hole and automobile body reservation mounting hole are aligned, and the installation accuracy obtains guaranteeing, and the installation effect is good.

4. When the battery is moved from the storage rack to the lifter, the driving gear and the driven gear are adjusted to be in a meshed state, the driving gear is driven to rotate by the adjusting roller of the lifter, the driven gear is driven to rotate by the rotating gear, and the corresponding supporting roller is driven to rotate by the driven gear, so that the battery is moved from the storage rack to the lifter.

When the battery is moved, the operation is simple, and the use stability is good; no additional pushing equipment is required, the layout among the components is more compact, and the cost is saved; in addition, when the battery is placed on the storage rack, the placement direction is not limited, the requirement on the use environment is low, and the feeding efficiency is improved.

5. In order to improve the efficiency, the invention is provided with two groups of material storage frames, when the lifter moves between the material storage frames, the driving gear on the lifter is mutually meshed with the driven gear on the material storage frames through the mutual matching of the positioning rod and the second detection sensor assembly, and the lifter is positioned at the correct position below the vehicle body, so that the automation degree is high, and the use is accurate.

6. According to the invention, the battery is mounted on the vehicle body through the bolts, the accessory channel for placing the bolts is arranged on one side of the mounting port, the first electric push rod enables the clamping hand to move below the accessory channel, the clamping hand is connected with the bolts in the accessory channel through the second electric push rod, at the moment, the first electric push rod resets, the bolts are taken out from the accessory channel, and the bolts are screwed on the battery and the vehicle body through the cooperation of the second electric push rod and the rotating motor.

The manipulator has the advantages of simple structure, convenient use, no interference with the battery placement position and the accessory channel, simple and efficient material taking process and mounting process, and contribution to improving the assembly efficiency of the device.

Drawings

FIG. 1 is a schematic diagram of the structure of embodiment 1;

fig. 2 is a schematic diagram of a second structure of embodiment 1;

fig. 3 is a structural schematic diagram III of embodiment 1;

FIG. 4 is a schematic illustration of the attachment of the vehicle body to the present apparatus;

FIG. 5 is a schematic view of a connection of an elevator to another magazine;

FIG. 6 is a schematic diagram II of a connection of an elevator with another magazine;

FIG. 7 is a schematic diagram III of the connection of the elevator to another magazine;

FIG. 8 is a schematic view of the robot and accessory channel;

fig. 9 is a block diagram of the structure of the present apparatus.

In the figure: 1-car body, 2-battery, 3-foundation, 4-mounting mouth, 5-conveying mechanism, 51-mounting seat, 52-conveying roller, 53-guide plate, 6-storage rack, 61-base, 62-frame, 63-support plate, 64-pushing cylinder, 65-support roller, 66-driven gear, 71-lifter, 72-turntable, 73-limit plate, 74-regulating roller, 741-driving gear, 75-first detecting sensor component, 76-roller, 77-positioning rod, 78-second detecting sensor component, 8-manipulator, 81-first electric push rod, 82-screwing motor, 83-second electric push rod, 84-clamping hand, 85-fitting channel, 86-long groove, 87-stopping protrusion, 88-bolt.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Example 1

The assembly structure for mounting the vehicle body 1 and the battery 2 of the new energy automobile comprises the vehicle body 1 and the battery 2 as shown in fig. 1-4, and further comprises a foundation 3, wherein a mounting opening 4 is formed in the foundation 3, a conveying mechanism 5 for moving the vehicle body 1 is arranged on one side of the foundation 3, and the conveying mechanism 5 moves the vehicle body 1 to an assembly station, namely, the upper side of the mounting opening 4.

The conveying mechanism 5 comprises a mounting seat 51, a conveying roller 52 and a guide plate 53, wherein the mounting seat 51 is movably connected with the guide plate 53. The mounting seat 51 is provided on the foundation 3 and spans the mounting opening 4, and has sufficient supporting strength to ensure the stability of the transport vehicle body 1.

The mounting seat 51 is provided with a plurality of conveying rollers 52 which are uniformly distributed, and the conveying rollers 52 are used for moving the vehicle body 1. The traveling direction of the vehicle body 1 is ensured during the movement, that is, the wheels are restricted by the guide plates 53, thereby ensuring the traveling direction of the vehicle body 1.

One side of the guide plate 53 is provided with a plurality of arc grooves matched with the conveying roller 52, namely, the guide plate 53 does not influence the normal use of the conveying roller 52. The installation seat 51 is provided with a thread groove on one side, and one side of the guide plate 53 is mutually matched with the thread groove through a screw, namely, the guide plate 53 and the installation seat 51 are in a detachable connection mode.

When in assembly, the vehicle body 1 is placed on the conveying mechanism 5, and the vehicle body 1 is moved to the position above the mounting opening 4 through the conveying mechanism 5, so that the subsequent mounting of the battery 2 is facilitated; when the vehicle body 1 is moved, the wheels are positioned between the guide plates 53, and the guide plates 53 are detachably connected with the mounting seats 51, so that the wheels can be adaptively adjusted according to the specifications of the wheels, and different requirements are met.

The guide plate 53 and the conveying roller 52 can ensure the moving position of the vehicle body 1, and further ensure the position of the reserved mounting hole on the lower side of the vehicle body 1; the rotary table 72 and the adjusting roller 74 can ensure the mounting position of the battery 2, so that the battery 2 mounting hole and the reserved mounting hole of the vehicle body 1 can be aligned by matching, the mounting precision is ensured, and the mounting effect is good.

The mounting opening 4 is provided with a storage rack 6 near the edge for placing the battery 2, and the storage rack 6 comprises a lifting base 61, a frame 62 and a supporting plate 63. The storage rack 6 also comprises a pushing cylinder 64. The batteries 2 are placed on the support plates 63, and each layer of support plates 63 is provided with a corresponding pushing cylinder 64.

When it is desired to move the battery 2 onto the elevator 71 for assembly, the pushing cylinder 64 is activated, and the pushing cylinder 64 moves the battery 2 from the magazine 6 to the turntable 72 on the elevator 71.

The mounting opening 4 is provided with a lifter 71 in the middle, a manipulator 8 for screwing a bolt 88 is arranged at the corner of the lifter 71, and after the lifter 71 aligns the battery 2 with the vehicle body 1 and is close to the battery, the bolt 88 is mounted through the manipulator 8, and the bolt 88 penetrates through the mounting hole of the battery 2 and the mounting hole reserved by the vehicle body 1, so that the battery 2 is mounted on the vehicle body 1.

The middle part of the lifter 71 is provided with a rotatable turntable 72, one side of the turntable 72 is provided with a motor for rotating the turntable 72, and the turntable 72 rotates the battery 2 for adjusting the inclination. The outside of carousel 72 be equipped with limiting plate 73 and dancer roll 74 in proper order, limiting plate 73 can prevent that battery 2 from coming off from lift 71, uses safelyr. One side of the regulating roller 74 is provided with a power source for rotating the regulating roller 74, and the rotation of the regulating roller 74 can enable the battery 2 to move onto the turntable 72.

The regulating roller 74 can move the material from the material storage rack 6 to the lifter 71, can horizontally adjust the position of the battery 2 relative to the lifter 71, and can eliminate the influence of inclined placement of the battery 2 on assembly after loading by matching with the rotary adjustment of the rotary table 72 to the battery 2.

One side of the limiting plate 73 is provided with a first detection sensor assembly 75 for detecting the position deviation and the advancing position of the battery 2, and the first detection sensor assembly 75 can eliminate the influence of inclined placement of the battery 2 on assembly after feeding.

The first detecting sensor assembly 75 includes a ranging sensor and a photoelectric sensor, the distance between the correctly moving battery 2 and the limiting plate 73 is set as a reference value, when the ranging sensor detects data and transmits the data to the controller, the controller rapidly starts the turntable 72 when the data is deviated from the reference value through comparison analysis, and the turntable 72 drives the battery 2 to move so as to adjust the position of the battery 2.

The photoelectric sensor can detect that the battery 2 is placed on the lifter 71 until the battery 2 is placed, the end face of the battery 2 is staggered with the photoelectric sensor, the photoelectric sensor detects the signal and sends the signal to the controller, and the controller sends a command to the pushing cylinder 64 and the regulating roller 74 to stop working, and the battery 2 is at the correct assembly position.

In the adjustment process, according to the cooperation of the controller and the first detection sensor assembly 75, whether the battery 2 is inclined or not can be timely known, whether the battery 2 is positioned in the middle of the turntable 72 or not is guaranteed, the hole position of the battery 2 is aligned with the reserved mounting hole of the vehicle body 1, the adjustment operation is simple, two dimensions can be adjusted, and the assembly requirement is met.

As shown in fig. 9, the device further comprises an external controller, wherein the controller is respectively connected with the first detection sensor assembly 75 and the second detection sensor assembly 78, and the controller is respectively connected with the conveying roller 52, the adjusting roller 74, the turntable 72, the manipulator 8, the lifter 71, the roller 76, the pushing cylinder 64 and the base 61 of the storage rack 6.

In use, the lifter 71 moves up and down by a command issued by the controller, so that the top surface of the turntable 72 faces the top surface of the support plate 63 on the storage rack 6, the pushing cylinder 64 on the support plate 63 is started, and the pushing cylinder 64 moves the battery 2 horizontally onto the lifter 71.

When the photoelectric sensor detects the battery 2, the regulating roller 74 is started, and the regulating roller 74 can reduce the resistance to the material returning cylinder when the battery 2 is moved. In the process of moving materials, the ranging sensor transmits measured signals to the controller in real time, once the phenomenon of the deviation of the battery 2 is found, the controller can timely start the turntable 72 to adjust the advancing direction of the battery 2, so that the placement position of the battery 2 on the lifter 71 is ensured, and the subsequent positioning assembled with the vehicle body 1 is prevented from being influenced.

When the battery 2 is completely placed on the lifter 71, the lifter 71 moves upward, inserting the battery 2 into the vehicle body 1 on the upper side of the conveying mechanism 5, at this time, the bolts 88 are mounted to the vehicle body 1 by the robot 8, thereby fixing the battery 2 to the vehicle body 1.

Example 2

On the basis of embodiment 1, as shown in fig. 5-7, the supporting plate 63 comprises a plurality of supporting rollers 65, driven gears 66 are arranged at the outer ends of the supporting rollers 65, and driving gears 741 meshed with the driven gears 66 are arranged at the outer ends of the regulating rollers 74. A rubber layer is provided on the outer side of the support roller 65 to which the driven gear 66 is attached, and the support roller 65 is used as a roller shaft for conveying the battery 2. The supporting rollers 65 at other positions are used for reducing friction, so that additional pushing equipment is not needed, and the cost is saved.

When the battery 2 is moved from the storage rack 6 to the lifter 71, the roller 76 is provided at the lower part of the lifter 71, so that the driving gear 741 and the driven gear 66 are adjusted to be engaged with each other by moving the use position of the lifter 71 by the roller 76.

At this time, the regulating roller 74 is started, the driving gear 741 is driven to rotate by the regulating roller 74, the driven gear 66 is driven to rotate by the rotating gear, and the corresponding supporting roller 65 is rotated by the driven gear 66, so that the battery 2 is moved from the storage rack 6 to the lifter 71.

When the battery 2 is moved, the operation is simple and the use stability is good; no additional pushing equipment is required, the layout among the components is more compact, and the cost is saved; in addition, when the battery 2 is placed on the storage rack 6, the placement direction is not limited, the requirement on the use environment is low, and the feeding efficiency is improved.

Example 3

On the basis of embodiment 1, as shown in fig. 2 and 3, the storage rack 6 of the battery 2 and the assembling station of the battery 2 are arranged together, the storage rack 6 is arranged in two groups, one group can provide materials for the lifter 71 when the battery 2 is placed, and the storage rack 6 and the lifter 71 are not interfered with each other, so that the loading of the battery 2 and the assembling of the battery 2 are not affected, the operation procedure is optimized, the assembling efficiency is improved, and the production beat is satisfied.

The installation axle one side of gyro wheel 76 be equipped with locating lever 77, installation mouth 4 in be equipped with locating lever 77 matched with second detection sensor subassembly 78, second detection sensor subassembly 78 sets up two sets of, and is located the lift 71 both sides respectively. The second detection sensor assembly 78 at different positions is matched with the material storage rack 6 at different positions for use.

The second detection sensor includes a first pressure sensor and a second pressure sensor, the first pressure sensor is close to the material storage rack 6, when the positioning rod 77 contacts with the first pressure sensor, the lifter 71 is indicated to move to a proper position, and the battery 2 can be moved from the material storage rack 6 to the lifter 71.

The second pressure sensor is disposed at a position near the center of the mounting port 4, and when the positioning rod 77 contacts the second pressure sensor, it is explained that the lifter 71 loading the battery 2 is moved to the assembled position, and at this time, the lifter 71 drives the battery 2 to move upward and perform the subsequent assembly.

Two sets of storage racks 6 are arranged for improving efficiency, when the lifter 71 moves between the storage racks 6, the relative position of the battery 2 transportation and the correct position of the lifter 71 under the vehicle body 1 are ensured by the mutual matching of the positioning rod 77 and the second detection sensor assembly 78, so that the automation degree is high, and the use is accurate.

Example 4

On the basis of embodiment 1, as shown in fig. 8, the manipulator 8 includes a first electric push rod 81, a screwing motor 82, a second electric push rod 83, and a clamping hand 84, where the clamping hand 84 is in the form of a magnetic attraction, a suction cup or other clamping components.

The upper part side in the installation mouth 4 be equipped with the accessory passageway 85 that is used for placing bolt 88, accessory passageway 85 can be for the slope setting, perhaps its one end is equipped with the push rod of removal bolt 88, when a bolt 88 is taken off the back, another bolt 88 can in time feed supplement.

One side of the accessory channel 85 is provided with a long groove 86 matched with the clamping hand 84, and the clamping hand 84 can pass through the long groove 86. The end of the fitting channel 85 is provided with an elastic stop protrusion 87, and the stop protrusion 87 can ensure that a bolt 88 to be mounted is always positioned in the fitting channel 85.

A baffle (not shown) is arranged on the upper side of the fitting channel 85, the clamping hand 84 passes through the long groove 86 to be in contact with the top of the bolt 88, and when the magnetic attraction mode is adopted, the clamping hand 84 moves the bolt 88 upwards until the bolt 88 is in contact with the baffle, so that the clamping hand 84 and the bolt 88 are effectively connected together. And the clamp 84 can be moved along the slot 86 to move the bolt 88 out of the fitting channel 85.

The invention is provided with an accessory channel 85 for placing a bolt 88 on one side of the mounting port 4, a first electric push rod 81 enables a clamping hand 84 to move below the accessory channel 85, then the clamping hand 84 is connected with the bolt 88 in the accessory channel 85 through a second electric push rod 83, at the moment, the first electric push rod 81 is reset, the bolt 88 is taken out from the accessory channel 85, and then the bolt 88 is screwed onto a battery 2 and a vehicle body 1 through the cooperation of the second electric push rod 83 and a rotating motor.

The manipulator 8 has the advantages of simple structure, convenient use, no interference with the battery 2 placement position and the accessory channel 85, simple and efficient material taking process and mounting process, and contribution to improving the assembly efficiency of the device.

It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.

Claims

1. The assembly structure for installing the new energy automobile body and the battery comprises the automobile body and the battery and is characterized by further comprising a foundation, wherein an installation opening is formed in the foundation, a conveying mechanism for moving the automobile body is arranged on one side of the foundation, the conveying mechanism comprises an installation seat, a conveying roller and a guide plate, and the installation seat is movably connected with the guide plate;

the mounting port is close to the edge and is provided with a storage rack for placing batteries, the storage rack comprises a liftable base, a frame body and a support plate, the middle part of the storage rack is provided with a lifter, the corners of the lifter are provided with a manipulator for screwing up bolts, the middle part of the lifter is provided with a rotatable turntable, the outer side of the turntable is sequentially provided with a limiting plate and a regulating roller, one side of the limiting plate is provided with a first detection sensor component for detecting the position deviation and the advancing position of the batteries, the support plate comprises a plurality of support rollers, the outer end of each support roller is provided with a driven gear, and the outer end of each regulating roller is provided with a driving gear meshed with the driven gear;

the lower part of the lifter is provided with a roller, when the battery moves from the material storage rack to the lifter, the lifter is moved to a use position through the roller, so that the driving gear and the driven gear are adjusted to be in a mutually meshed state, the regulating roller is started, the driving gear is driven to rotate by the regulating roller, the driving gear drives the driven gear to rotate, and the driven gear enables the corresponding supporting roller to rotate, so that the battery is moved from the material storage rack to the lifter.

2. The assembly structure for mounting a new energy automobile body and a battery according to claim 1, wherein the material storage rack further comprises a material pushing cylinder.

3. The assembly structure for installing a new energy automobile body and a battery according to claim 2, wherein a positioning rod is arranged on one side of the roller installation shaft, and a second detection sensor component matched with the positioning rod is arranged in the installation opening.

4. A mounting structure for mounting a body and a battery of a new energy automobile as claimed in claim 3, wherein the storage frames are provided in two groups.

5. The assembly structure for installing a new energy automobile body and a battery according to claim 4, wherein the manipulator comprises a first electric push rod, a screwing motor, a second electric push rod and a clamping hand.

6. The assembly structure for mounting a new energy automobile body and a battery according to claim 5, wherein a fitting channel for placing a bolt is arranged on one side of the upper portion in the mounting opening, a long groove matched with the clamping hand is formed on one side of the fitting channel, and an elastic stop protrusion is arranged at the end part of the fitting channel.

7. The assembly structure for installing the new energy automobile body and the battery according to claim 6, further comprising an external controller, wherein the controller is respectively connected with the first detection sensor assembly and the second detection sensor assembly, and the controller is respectively connected with the conveying roller, the regulating roller, the turntable, the manipulator, the lifter, the roller, the pushing cylinder and the base.