CN118495248A - Passive wire feeding mechanism - Google Patents

Abstract

The invention relates to the technical field of wire harness processing, in particular to a passive wire feeding mechanism; the wire drawing device comprises a base and a wire reel, wherein an electric cabinet is arranged on one side of the base, a controller is arranged in the electric cabinet, a fixed plate is slidably arranged on one side surface of the electric cabinet, a first wire wheel group is arranged on the fixed plate, a wire drawing encoder is arranged on one side of the fixed plate and positioned on one side surface of the electric cabinet, a wire outlet end of the wire drawing encoder is connected with the fixed plate, a connecting rod is arranged on the upper surface of the electric cabinet, a second wire wheel group is arranged on one side surface of the upper part of the connecting rod, and a guide column is arranged on one side surface of the connecting rod adjacent to the second wire wheel group; according to the invention, the wire is pulled by the driving device, so that the first wire wheel group moves up and down, the wire outlet end of the wire pulling encoder is pulled to move up and down, a signal is fed back to the controller by the wire pulling encoder, the controller controls the servo motor to rotate in a variable speed manner, and the servo motor controls the wire wheels to realize variable speed movement, so that stable wire feeding is passively realized.

Description

Passive wire feeding mechanism

Technical Field

The invention relates to the technical field of wire harness processing, in particular to a passive wire feeding mechanism.

Background

Wire harnesses are widely used in various electronic devices and systems, such as automobiles, airplanes, home appliances, computers, communication devices, and the like. They can transmit power, control signals, data signals, etc., ensuring proper communication and co-operation between devices. The harness industry chain includes wire and cable, connectors, processing equipment, harness manufacturing and downstream applications industries.

With the continuous improvement of the safety performance grade requirements of the automobile industry, the quality requirements on the automobile wire harness are also more and more strict. In the automobile wire harness production process, high-speed stable wire conveying is difficult to ensure, which is a problem frequently encountered in the production process, and in order to solve the problem, the invention develops and designs a passive wire feeding mechanism.

Disclosure of Invention

The invention provides a wire feeding mechanism for stably conveying wires to next wire processing equipment in a passive mode.

In order to achieve the technical purpose, the invention provides the following technical scheme: the utility model provides a passive wire feeding mechanism, includes base and wire reel, one side of base is equipped with the electric cabinet, be equipped with the controller in the electric cabinet, slidable mounting has the fixed plate on one side surface of electric cabinet, is equipped with first wire wheel group on the fixed plate, and one side of fixed plate just is provided with the encoder of acting as go-between on one side surface of electric cabinet, the wire terminal of the encoder of acting as go-between is connected with the fixed plate, is provided with the connecting rod on the upper surface of electric cabinet, is equipped with the second wire wheel group on one side of connecting rod upper portion, is equipped with the guide post on the side adjacent to the second wire wheel group on the connecting rod, and the both sides of base one end are equipped with left limit seat and right limit seat that are parallel arrangement each other respectively, clamping assembly installs on left limit seat, installs on the base through spacing riser on the right limit seat, is equipped with the power component that the drive wire reel rotated.

Further, the middle parts of two sides of the line roller are provided with splicing holes, a side surface, far away from the limiting vertical plate, of the right limiting seat is provided with a gourd-shaped groove, a first angle contact ball bearing is arranged on the gourd-shaped groove, the power assembly comprises a servo motor, the servo motor is connected with the right limiting seat through a baffle, the output end of the servo motor penetrates through the baffle to be connected with a driving gear, a driven gear meshed with the driving gear is connected onto the baffle and below the driving gear through a rotating shaft, the driving gear and the driven gear are both positioned in the gourd-shaped groove, and one end of the rotating shaft penetrates through the first angle contact ball bearing to be connected with a positioning head spliced with the splicing holes of the line roller.

Further, the left limit seat is provided with a mounting hole, the clamping assembly comprises a driving cylinder, a guide sleeve, a push rod and a clamping head, the guide sleeve is arranged in the mounting hole, the driving cylinder is arranged on one side of the guide sleeve, the push rod is slidably mounted in the guide sleeve, one end of a piston rod of the driving cylinder is connected with one end of the push rod in the guide sleeve, the other end of the push rod is connected with the clamping head through a second angular contact ball bearing, and one end of the clamping head is inserted into an insertion hole of the online wheel.

Furthermore, the end part of the positioning head and the end part of the clamping head are both in conical structures, limit holes are formed in the periphery of any side of the wire reel and located at the splicing holes, and limit columns matched with the limit holes are connected to the two sides of the positioning head through connecting plates.

Further, a balancing weight is arranged on the fixing plate and located below the first wire wheel group.

Further, a rectangular through hole is formed in the base and located at the bottom of the line reel, a trolley capable of moving left and right is arranged in the rectangular through hole, the trolley comprises a bottom plate and connecting shafts fixed on two sides of the top of the bottom plate, two bearings are mounted at two ends of each connecting shaft, and the bearings are located on the base.

Further, one side of the fixed plate, which is far away from the first wire wheel group, is provided with a protection plate, and one side of the protection plate is connected with the electric cabinet.

Further, the top of electric cabinet is equipped with articulated seat, and the bottom of connecting rod is connected with articulated seat through the round pin axle.

Further, a hand valve for controlling the driving cylinder to stretch and retract and a pressure reducing valve for adjusting the tightness of the clamping head are arranged on the left limiting seat.

Further, the signal output part of the stay wire encoder is electrically connected with the input part of the controller, the input part of the servo motor is electrically connected with the output part of the controller, one side of the electric cabinet is provided with a stand column, and the stand column is provided with a power switch, a scram button, a forward rotation and reverse rotation switching and click debugging button which are electrically connected with the controller.

Compared with the prior art, the invention has the beneficial effects that: the invention has novel structure, ingenious conception and simple and convenient operation, and has the following advantages compared with the prior art: 1. according to the wire feeding device, the wire is wound up and down between the first wire wheel set and the second wire wheel set, the driving device pulls the wire to enable the first wire wheel set to move up and down, on one hand, the wire is buffered, on the other hand, the up and down movement of the first wire wheel set pulls the wire outlet end of the wire drawing encoder to move up and down, the wire drawing encoder feeds back signals to the controller, the controller controls the servo motor to rotate in a variable speed manner, and the servo motor controls the wire wheels to realize variable speed movement, so that high-speed stable wire feeding is passively realized;

2. the clamping head is pushed to move towards the positioning head by the driving air cylinder, and the wire wheels are pushed to be clamped onto the positioning head by the clamping head under the holding of the guide sleeve, so that the wire wheels are clamped.

Drawings

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

FIG. 2 is an exploded schematic view of the present invention;

FIG. 3 is a schematic view of the structure of the clamping assembly of the present invention;

FIG. 4 is a schematic view of the power assembly of the present invention;

FIG. 5 is a schematic view of the right limiting seat of the present invention;

fig. 6 is a schematic structural view of the trolley of the present invention.

In the figure, 1, a base; 2. a wire wheel; 3. an electric control box; 4. a fixing plate; 5. a first pulley group; 6. a stay wire encoder; 7. a connecting rod; 8. a second wire wheel set; 9. a guide post; 10. a servo motor; 11. a plug hole; 12. a left limit seat; 13. a right limit seat; 14. a limiting vertical plate; 15. a gourd-shaped groove; 16. a first angular contact ball bearing; 17. a baffle; 18. a drive gear; 19. a rotating shaft; 20. a driven gear; 21. a positioning head; 22. a mounting hole; 23. a driving cylinder; 24. a guide sleeve; 25. a push rod; 26. a clamping head; 27. a second angular contact ball bearing; 28. a limiting hole; 29. a limit column; 30. balancing weight; 31. rectangular through holes; 32. a bottom plate; 33. a connecting shaft; 34. a bearing; 35. a protection plate; 36. a hinge base; 37. a pin shaft; 38. a hand valve; 39. a pressure reducing valve; 40. a column; 41. a power switch; 42. an emergency stop button; 43. switching forward rotation and reverse rotation; 44. clicking a debugging button; 45. a slide rail; 46. a sliding block.

Detailed Description

The following are specific embodiments of the present invention, and the technical solutions of the present invention are further described with reference to the accompanying drawings, but the present invention is not limited to these embodiments.

The invention provides a passive wire feeding mechanism which comprises a base 1 and a wire drum 2, wherein an electric cabinet 3 is arranged on one side of the base 1, a controller is arranged in the electric cabinet 3, a fixed plate 4 is slidably arranged on one side surface of the electric cabinet 3, a first wire wheel set 5 is rotatably connected to the fixed plate 4, a wire-pulling encoder 6 is fixedly arranged on one side surface of the electric cabinet 3 and positioned at the lower end of one side of the fixed plate 4, a wire outlet end of the wire-pulling encoder 6 is connected with the fixed plate 4, a connecting rod 7 is arranged on the upper surface of the electric cabinet 3, a second wire wheel set 8 is rotatably connected to one side surface of the upper part of the connecting rod 7, two guide posts 9 are arranged on one side surface of the connecting rod 7 adjacent to the second wire wheel set 8, a left limit seat 12 and a right limit seat 13 which are arranged in parallel with each other are respectively arranged on two sides of one end of the base 1, a clamping assembly is arranged on the left limit seat 12, the right limit seat 13 is arranged on the base 1 through a limit vertical plate 14, and a power assembly for driving the wire drum 2 to rotate is arranged on the right limit seat 13.

As shown in fig. 1 and 2, in the present embodiment, the electric cabinet 3 is connected to the fixing plate 4 through two sets of sliding parts, the two sets of sliding parts are connected to each other in a sliding manner, each set of sliding parts includes a sliding rail 45 and a sliding block 46, the sliding blocks 46 are mounted on the sliding rail 45 and can slide up and down along the sliding rail 45, the lengths of the sliding rails 45 of the two sets of sliding parts can be overlapped for use, and in particular, the sliding parts can be flexibly used according to the length of the disposable pre-wire; the first wire wheel set 5 and the second wire wheel set 8 comprise a plurality of wire wheels, and the wire wheels are of U-shaped structures, so that the wires can be prevented from being pulled out and can be straightened, namely the wires can be stored; the wire reel 2 is fixed between the left limit seat 12 and the right limit seat 13 through the clamping assembly, the wire reel 2 is driven to rotate through the power assembly, when the wire reel 2 wrapped with the wire is placed between the left limit seat 12 and the right limit seat 13 and fixed through the clamping assembly, the wire of the wire reel 2 is pulled out, the wire reel enters one wire reel of the second wire reel group 8 through the gap between the two guide posts 9 and then goes to one wire reel of the first wire reel group 5, the wire reel is wound up and down between the second wire reel group 8 and the first wire reel group 5, the wire end positioned at the leftmost side of the second wire reel group 8 is connected with the driving device, the driving device pulls the wire to move towards the next processing device, the sliding distance of the first wire reel group 5 detected by the wire-pulling encoder 6 is converted into an electric signal to be transmitted to the controller, the controller controls the power assembly according to the received displacement of the first wire reel group 5, the power assembly controls the wire reel 2 to realize variable-speed rotation, compared with the situation that the driving device directly pulls the wire or directly drives the wire by the wire reel group 2 through the wheel assembly, the wire reel group is directly, the phenomenon that the wire is easily accumulated and the wire is stably moved, the wire quality is easily influenced by the wire is high, and the wire is easily accumulated, and the wire quality is stably driven, and the wire quality is easily stably moved, and the wire is easily is stably moved, and the wire quality is easily moved.

The middle parts of the two sides of the spool 2 are provided with inserting holes 11, one side surface, far away from the limiting vertical plate 14, of the right limiting seat 13 is provided with a gourd-shaped groove 15, a first angle contact ball bearing 16 is arranged on the gourd-shaped groove 15, the power assembly comprises a servo motor 10, the servo motor 10 is connected with the right limiting seat 13 through a baffle 17, the output end of the servo motor 10 penetrates through the baffle 17 to be connected with a driving gear 18, the baffle 17 is positioned below the driving gear 18 and is connected with a driven gear 20 meshed with the driving gear 18 through a rotating shaft 19, the driving gear 18 and the driven gear 19 are both positioned in the gourd-shaped groove 15, and one end of the rotating shaft 19 penetrates through the first angle contact ball bearing 16 to be connected with a positioning head 21 inserted into the inserting holes 11 of the spool 2.

As shown in FIG. 2, the driving gear 18 and the driven gear 20 are bevel gears, so that the device has the advantages of low noise and stable shutdown; the servo motor 10 is started, the driving gear 18 is started to rotate at the upper part in the gourd-shaped groove 15, the driven gear 20 is driven to rotate at the lower part in the gourd-shaped groove 15, the driven gear 20 rotates to drive the rotating shaft 19 to rotate, and the rotating shaft 19 drives the positioning head 21 to rotate, so that the rotation of the driving wire wheel 2 is realized.

The left limit seat 12 is provided with a mounting hole 22, the clamping assembly comprises a driving air cylinder 23, a guide sleeve 24, an ejector rod 25 and a clamping head 26, the guide sleeve 24 is arranged in the mounting hole 22, the driving air cylinder 23 is arranged on one side of the guide sleeve 24, the ejector rod 25 is slidably mounted in the guide sleeve 24, one end of a piston rod of the driving air cylinder 23 is connected with one end of the ejector rod 25 in the guide sleeve 24, the other end of the ejector rod 25 is connected with the clamping head 26 through a second angular contact ball bearing 27, and one end of the clamping head 26 is inserted into the insertion hole 11 of the wire reel 2.

As shown in fig. 2, the guide sleeve 24 is fixed in the mounting hole 22 by a bolt, the second angular ball bearing 27 is rotatably arranged at the end of the ejector rod 25, and the clamping head 26 is fixedly connected to one side of the second angular ball bearing 27 and inserted into the insertion hole 11; when the wire winding device is used, the piston rod of the driving cylinder 23 drives the ejector rod 25 to slide in the guide sleeve 24, the clamping head 25 is driven to move towards the wire winding wheel 2, so that the clamping head 25 is inserted into the inserting hole 11, the wire winding wheel 2 is pushed to move towards the positioning head 21 until the limiting hole 11 at the other side of the wire winding wheel 2 is sleeved in the positioning head 21, the wire winding wheel 2 is clamped, and in the embodiment, the first angle contact ball bearing 16 and the second angle contact ball bearing 27 can be axially stressed.

The end of the positioning head 21 and the end of the clamping head 25 are both in conical structures, limiting holes 28 are formed in the periphery of the splicing hole 11 on any side of the reel 2, and limiting columns 29 matched with the limiting holes 28 are connected to the two sides of the positioning head 21 through connecting plates 29.

As shown in fig. 2, the positioning head 21 and the clamping head 25 with tapered end parts can be in close contact with the insertion hole 11, the rotation of the wire reel 2 is not affected, the limiting post 29 is inserted into the limiting hole 28, the wire reel 2 can be fixed, and the positioning head 21 and the clamping head 25 can be prevented from rotating in the insertion hole 11 when the wire reel 2 rotates.

The fixed plate 4 is provided with a balancing weight 30 below the first pulley group 5.

As shown in fig. 2, when the driving device pulls the wire, the first pulley set 5 moves upward, and then moves downward under the gravity of the balancing weight 30, so that the balancing weight 30 reciprocates, and the balancing weight 30 plays a role of buffering the first pulley set 5, so that the first pulley set moves up and down stably.

Rectangular through holes 31 are formed in the base 1 and located at the bottom of the reel 2, a trolley capable of moving left and right is arranged in each rectangular through hole 31, each trolley comprises a bottom plate 32 and connecting shafts 33 fixed on two sides of the top of the bottom plate 32, two bearings 34 are mounted at two ends of each connecting shaft 33, and the bearings 34 are located on the base 1.

As shown in fig. 1, the bearing 34 on the connecting shaft 33 plays a role of a wheel, the bottom plate 32 moves left and right along the rectangular through hole 31 under the rolling of the bearing 34 in the rectangular through hole 31, so that the bearing 34 can move left and right on the base 1 at two sides of the rectangular through hole 31, the wire reel 2 is placed on the bottom plate 32, the clamping assembly can avoid the bottom stress of the wire reel 2 when clamping the wire reel 2, and convenience is provided for fixing the wire reel 2.

One side of the fixed plate 4, which is far away from the first wire wheel set 5, is provided with a protection plate 35, and one side of the protection plate 35 is connected with the electric cabinet 3.

As shown in fig. 2, a protective plate 35 may be used to protect the wire encoder 6.

The top of electric cabinet 3 is equipped with articulated seat 36, and the bottom of connecting rod 7 is connected with articulated seat 36 through round pin axle 37.

As shown in fig. 1, in the embodiment, two pins 37 are provided, when the connecting rod 7 is connected on the hinge seat 36 through one pin 37, the connecting rod 7 can rotate and fold to the top of the control box 3, so that the space is reduced and the transportation is convenient; the connecting rod 7 can be unfolded for use when the connecting rod 7 is fixed on the hinge base 36 by two pins 37.

The left limit seat 12 is provided with a hand valve 38 for controlling the extension and retraction of the driving cylinder 23 and a pressure reducing valve 39 for adjusting the tightness of the clamping head 25.

As shown in fig. 1, the hand valve 38 can control the extension or retraction of the driving cylinder 23, i.e. to perform a reversing function, and control the clamping head 25 to clamp or unclamp the reel 2; the pressure relief valve 39 can regulate the clamping force to the clamping head 25.

The signal output end of the pull wire encoder 6 is electrically connected with the controller, the input end of the servo motor 10 is electrically connected with the output end of the controller, one side of the electric cabinet 3 is provided with a stand column 40, the stand column 40 is provided with a power switch 41, a scram button 42, a forward rotation and reverse rotation switching 43 and a jog debugging button 44, and the power switch 41, the scram button 42, the forward rotation and reverse rotation switching 43 and the jog debugging button 44 are electrically connected with the controller.

As shown in fig. 1, the wire pulling encoder 6 feeds back a signal to the controller, and the controller controls the servo motor 10 to rotate fast or slow, so as to drive the wire to realize variable-speed rotation of the wheel 2; the power switch 41 controls the start and stop of the servo motor 10; the emergency stop button 42 can stop feeding wire in emergency, the forward rotation and reverse rotation switching 43 controls the forward rotation and reverse rotation of the servo motor 10, so that the wire is controlled to rotate forward and reverse in the direction of the wheel 2, and the click debugging button 44 controls the servo motor 10 to start or stop, so that the length of one wire feeding wire can be debugged.

The use principle is as follows: the method comprises the following operation steps:

s1: manually pushing the wire reel 2 fully wound with the wire onto the left-right translation trolley, manually pre-positioning the wire reel 2 onto the positioning head 21, adjusting proper pressure through the pressure reducing valve 39, pulling the hand valve 38, driving the cylinder 23 to push the clamping head 26 rightwards so that the clamping head 26 is inserted into the inserting hole 11, driving the cylinder 23 to continue driving, and pushing the wire reel 2 to be clamped onto the positioning head 21 by the clamping head 26 under the holding of the guide sleeve 24, and simultaneously inserting the limiting post 29 into the limiting hole 28;

S2: the electric wire on the wire reel 2 is pulled out, enters the rightmost wire reel of the second wire reel group 8 through the space between the two guide posts 9, then goes to the rightmost wire reel of the first wire reel group 5, winds the electric wire up and down between the first wire reel group 5 and the second wire reel group 8 in sequence, and pulls out the end part of the leftmost electric wire positioned in the second wire reel group 8 and is connected with driving equipment;

S3: the power switch 41 is turned on, the driving device pulls the electric wire, the first wire wheel set 5 moves up and down under the guide of the sliding rail 45, and pulls the wire outlet end of the wire pulling encoder 6, the wire pulling encoder 6 feeds back a linear signal to the controller, the controller controls the servo motor 10 to rotate fast and slow, the servo motor 10 drives the driving gear 18 to drive the driven gear 20, and the driven gear 20 drives the positioning head 21 to rotate, so that the wire pulling wheel 2 is driven to realize variable speed rotation.

The specific embodiments described herein are offered by way of example only to illustrate the spirit of the invention. Those skilled in the art may make various modifications or additions to the described embodiments or substitutions, without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.

Claims (10)

1. A passive wire feeding mechanism is characterized in that: including base (1) and line rumble (2), one side of base (1) is equipped with electric cabinet (3), be equipped with controller in electric cabinet (3), slidable mounting has fixed plate (4) on the surface of one side of electric cabinet (3), is equipped with first wire wheel group (5) on fixed plate (4), and one side of fixed plate (4) just is located and is provided with wire encoder (6) on the surface of one side of electric cabinet (3), wire encoder (6)'s outlet end is connected with fixed plate (4), is provided with connecting rod (7) on the upper surface of electric cabinet (3), is equipped with second wire wheel group (8) on one side of connecting rod (7) upper portion, is equipped with two guide posts (9) on the side adjacent with second wire wheel group (8) on connecting rod (7), and the both sides of base (1) one end are equipped with left limit seat (12) and right limit seat (13) that are parallel arrangement each other respectively, install on left limit seat (12) through spacing riser (14) on right limit seat (13), install on base (1) power reel (13) and rotate spacing subassembly.

2. A passive wire feeding mechanism according to claim 1, wherein: the wire reel is characterized in that the middle parts of the two sides of the wire reel (2) are provided with inserting holes (11), one side surface, far away from the limiting vertical plate (14), of the right limiting seat (13) is provided with a gourd-shaped groove (15), a first angle contact ball bearing (16) is arranged on the gourd-shaped groove (15), the power assembly comprises a servo motor (10), the servo motor (10) is connected with the right limiting seat (13) through a baffle plate (17), the output end of the servo motor (10) penetrates through the baffle plate (17) to be connected with a driving gear (18), a driven gear (20) meshed with the driving gear (18) is arranged on the baffle plate (17) and below the driving gear (18) through a rotating shaft (19), the driving gear (18) and the driven gear (20) are both arranged in the gourd-shaped groove (15), and one end of the rotating shaft (19) penetrates through the first angle contact ball bearing (16) to be connected with a positioning head (21) inserted into the inserting holes (11) of the wire reel (2).

3. A passive wire feeding mechanism according to claim 2, wherein: the left limiting seat (12) is provided with a mounting hole (22), the clamping assembly comprises a driving cylinder (23), a guide sleeve (24), an ejector rod (25) and a clamping head (26), the guide sleeve (24) is arranged in the mounting hole (22), the driving cylinder (23) is arranged on one side of the guide sleeve (24), the ejector rod (25) is slidably mounted in the guide sleeve (24), one end of a piston rod of the driving cylinder (23) is connected with one end of the ejector rod (25) in the guide sleeve (24), the other end of the ejector rod (25) is connected with the clamping head (26) through a second angular contact ball bearing (27), and one end of the clamping head (26) is spliced in a splicing hole (11) of the wire reel (2).

4. A passive wire feeding mechanism according to claim 3, wherein: the end part of the positioning head (21) and the end part of the clamping head (25) are both in conical structures, limit holes (28) are formed in the periphery of any side of the wire wheel (2) and located at the splicing holes (11), and limit columns (29) matched with the limit holes (28) are connected to the two sides of the positioning head (21) through connecting plates (29).

5. A passive wire feeding mechanism according to claim 1, wherein: and a balancing weight (30) is arranged on the fixed plate (4) and below the first pulley group (5).

6. A passive wire feeding mechanism according to claim 1, wherein: rectangular through holes (31) are formed in the base (1) and located at the bottom of the line wheels (2), a trolley capable of moving left and right is arranged in each rectangular through hole (31), each trolley comprises a bottom plate (32) and connecting shafts (33) fixed on two sides of the top of the bottom plate (32), two bearings (34) are mounted at two ends of each connecting shaft (33), and each bearing (34) is located on the base (1).

7. A passive wire feeding mechanism according to claim 1, wherein: one side of fixed plate (4) keeping away from first wheelset (5) is provided with guard plate (35), and one side of guard plate (35) is connected with electric cabinet (3).

8. A passive wire feeding mechanism according to claim 1, wherein: the top of electric cabinet (3) is equipped with articulated seat (36), and the bottom of connecting rod (7) is connected with articulated seat (36) through round pin axle (37).

9. A passive wire feeding mechanism according to claim 3, wherein: a hand valve (38) for controlling the driving cylinder (23) to stretch and retract and a pressure reducing valve (39) for adjusting the tightness of the clamping head are arranged on the left limiting seat (12).

10. A passive wire feeding mechanism according to claim 2, wherein: the signal output part of the stay wire encoder (6) is electrically connected with the input end of the controller, the input end of the servo motor (10) is electrically connected with the output end of the controller, one side of the electric cabinet (3) is provided with a stand column (40), the stand column (40) is provided with a power switch (41), an emergency stop button (42), a forward rotation reverse rotation switching button (43) and a click debugging button (44), and the power switch (41), the emergency stop button (42), the forward rotation reverse rotation switching button (43) and the click debugging button (44) are electrically connected with the controller.