CN206123131U - Hang automatic kludge of knoing in area - Google Patents

Abstract

The utility model relates to an automation equipment technical field especially relates to a hang automatic kludge of knoing in area, including board and carousel device, the carousel device sets up in the upper end of board, enclosing in proper order all around of carousel device be equipped with meshbelt loading attachment, hasp loading attachment, hasp band device, the car and be used for the handling device for the car loading and unloading material of knoing of knoing, the utility model discloses a full automatization carries out the assembly processing, avoids appearing phenomenons such as misloading, neglected loading, and a workman can be responsible for multiple devices, reduces artifical the input, reduces the cost of labor, moreover the utility model discloses equipment is small, sparingly puts the space.

Description

One kind is linked with automatic knotting kludge

Technical field

This utility model is related to technical field of automation equipment, more particularly to one kind is linked with automatic knotting kludge.

Background technology

Now, most manufacturing enterprise all employs the carrying out of streamline and produces, and certificate is linked with assembling to be needed through knitting Band feeding, ribbon cut out material, suspension ring feeding, suspension ring positioning, iron clamp feeding, iron clamp riveted and finished product discharging, and seven procedures, adopts altogether With assembly line work, following shortcoming is had：1. complete one and be linked with assembling procedure at least six workman's ability of needs Complete, artificial input is big, increased production cost；2. the quantity of streamline can be restricted by hall space size；3. Due to being manually to be assembled, easily there are the phenomenons such as misloading, neglected loading, substantially increase the fraction defective of product, increased production Cost.

Utility model content

The purpose of this utility model is to provide one kind for the deficiencies in the prior art to be linked with automatic knotting kludge, this reality Assembling processing is carried out with new employing full-automation, it is to avoid the phenomenons such as misloading, neglected loading occur, a workman can be responsible for multiple stage and set It is standby, artificial input is reduced, cost of labor is reduced, and this utility model equipment volume is little, save placing space.

For achieving the above object, one kind is linked with automatic knotting kludge, including board and rotating-table apparatus, the rotating-table apparatus The upper end of board is arranged at, the surrounding of the rotating-table apparatus is enclosed successively and is provided with ribbon feeding device, lock feeding device, lock bag Belting, knotting car and the handler for material is loaded and unloaded to knotting car.

Preferably, the rotating-table apparatus include the rotating mechanism that rotating disk is rotated with driving rotating disk, arrange on the rotating disk There is the mounting seat for placing ribbon and latch.

Preferably, the ribbon feeding device includes ribbon feeding-passage, the ribbon feeding-passage be provided with for The drive mechanism of transmission ribbon, the charging aperture of the ribbon feeding-passage are provided with ribbon turntable mounting, the ribbon feeding-passage Discharging opening be provided with material cutting mechanism, ribbon gripping body is provided with above the material cutting mechanism.

Preferably, the drive mechanism includes motor, the motor shaft sleeve of the motor is provided with drivewheel, the drivewheel Top be provided with synchronizing wheel, the interval of ribbon transmission, ribbon charging are provided between the drivewheel and synchronizing wheel Be additionally provided with orientation guide roller set at the charging aperture of passage, the orientation guide roller set be located at ribbon feeding-passage and ribbon turntable mounting it Between, the orientation guide roller set includes the first orientation deflector roll and the second orientation deflector roll, and it is fixed that the second orientation deflector roll is arranged at first To the lower section of deflector roll, the interval for ribbon transmission between the first orientation deflector roll and the second orientation deflector roll, is provided with, The material cutting mechanism includes pedestal, and the pedestal is provided with ribbon mounting table, arranges between the pedestal and ribbon feeding-passage There is interval, in the interval, be provided with cutter mechanism, the cutter mechanism includes cutting knife and drives cutting knife to carry out blank action First cylinder, the piston rod of the first cylinder are fixedly connected with the knife rest of cutting knife, are provided with binder at the ribbon mounting table Mechanism, the feeding pressure mechanism include the first fixed plate and drive the second cylinder of the first fixed plate length travel, second gas The piston rod of cylinder is fixedly connected with the first fixed plate, and first fixed plate is fixedly installed binder handle, the ribbon catching device Structure includes the second fixed plate and drives the servo motor of the second fixed plate lateral displacement, second fixed plate to be provided with the first machine Tool handss, the first mechanical hand of driving the 4th cylinder for moving up and down and the 5th cylinder for driving the rotation of the first mechanical hand, it is described First mechanical hand includes fixed seat and tong portion, and the fixed seat is fixedly connected with the piston rod of the 4th cylinder, the tong portion Top be provided with connecting shaft, the connecting bushing is provided with gear, and the piston rod of the 5th cylinder is connected with tooth bar, the tooth Bar and gear engagement.

Preferably, the lock feeding device includes latching feeding-passage, the charging aperture of the lock feeding-passage sets The first vibrating disk is equipped with, the discharging opening of the lock feeding-passage is provided with lock positioning table, the top of the lock positioning table It is provided with lock gripping body, the lock gripping body includes the first fixed block and drives the of the first fixed block lateral displacement Six cylinders, first fixed block are provided with the second mechanical hand and drive the 7th cylinder of the second mechanical hand upper and lower displacement.

Preferably, the lock band device includes support, the support is provided with for pushing down the swager of lock Structure, is provided with below the support for being linked with the material jacking mechanism of jack-up, and the support is additionally provided with for being linked with bag Cover the band mechanism of lock, the 8th gas that the feeding pressure mechanism includes the 3rd fixed block and drives the 3rd fixed block to move up and down Cylinder, the 3rd fixed block are provided with for pushing down the depression bar of lock, and the material jacking mechanism includes ejector beam and drives ejector beam 9th cylinder of upper and lower displacement, the band mechanism include the tenth cylinder, the piston rod of the tenth cylinder be fixedly connected with to Pressing plate.

Preferably, the handler includes the support base being fixedly connected with board, the support base slides laterally company First slide and the 11st cylinder for driving first slide to move are connected to, the first slide is connected with vertical adjusting machine Structure, the vertically modulating mechanism are connected with longitudinal extension mechanism, and the longitudinal extension mechanism is connected with for gripping the pawl of material Mobile phone structure.

Preferably, the vertically modulating mechanism includes the second slide being slidably connected with first slide, and for driving The 12nd cylinder that dynamic second slide is vertically moved.

Preferably, the longitudinal extension mechanism includes the 3rd slide being slidably connected with second slide, and for driving The 13rd cylinder that dynamic 3rd slide is vertically moved；The cleft hand mechanism is included for gripping the 3rd mechanical hand of material and being used for Drive the 14th cylinder of the 3rd mechanical hand.

The beneficial effects of the utility model：One kind is linked with automatic knotting kludge, including board and rotating-table apparatus, described turn Disk device is arranged at the upper end of board, the surrounding of the rotating-table apparatus enclose successively be provided with ribbon feeding device, lock feeding device, Lock band device, knotting car and the handler for material is loaded and unloaded to knotting car, this utility model are entered using full-automation Row assembling processing, it is to avoid the phenomenons such as misloading, neglected loading occur, a workman can be responsible for multiple devices, reduce and manually put into, and reduce people Work cost, and this utility model equipment volume is little, saves placing space.

Description of the drawings

Fig. 1 is dimensional structure diagram of the present utility model.

Dimensional structure diagrams of the Fig. 2 for this utility model ribbon feeding device.

Dimensional structure diagrams of the Fig. 3 for this utility model ribbon feeding-passage.

Dimensional structure diagrams of the Fig. 4 for this utility model material cutting mechanism.

Structural representations of the Fig. 5 for this utility model ribbon gripping body.

Fig. 6 is the dimensional structure diagram that this utility model latches feeding device.

Fig. 7 is the dimensional structure diagram that this utility model latches gripping body.

Fig. 8 is the structural representation that this utility model latches band device.

Dimensional structure diagrams of the Fig. 9 for this utility model handler.

Reference is：

1-ribbon feeding device

11-ribbon, 12-drive mechanism of feeding-passage

121-motor, 122-drivewheel

123-synchronizing wheel, 13-ribbon turntable mounting

14-material cutting mechanism, 141-pedestal

142-ribbon, 143-cutting knife of mounting table

144-the first the 145-the first fixed plate of cylinder

146-the second cylinder 147-binder handle

15-ribbon gripping body

151-the second 152-servo motor of fixed plate

153-the first 1531-fixed seat of mechanical hand

1532-tong portion, 1533-gear

154-the four the 155-the five cylinder of cylinder

1551-tooth bar, 16-guide roller set

161-the first orientation orientation deflector roll of deflector roll 162-the second

2-lock feeding device

211-lock feeding-passage

212-the first vibrating disk 213-lock positioning table

214-lock the 2141-the first fixed block of gripping body

2142-the six the 2143-the second mechanical hand of cylinder

144-the seven cylinder

3-lock band device

The 322-the three fixed block of 321-support

323-the eight 324-depression bar of cylinder

The 326-the nine cylinder of 35-ejector beam

327-the ten cylinder 328-compress plate

4-- knotting cars

5-handler

51-- support base 52-- first slides

The 11st cylinder 54-- vertically modulating mechanisms of 53--

12 cylinder of 541-- second slides 542-the

The 551-the three slide of 55-- longitudinal extensions mechanism

552-the ten three 56-cleft hand of cylinder mechanism

561-the three mechanical hand 562-the, 14 cylinder

6-rotating disk.

Specific embodiment

Below in conjunction with the accompanying drawings and specific embodiment is described further to this utility model.

As Fig. 1 to Fig. 8 shows that one kind is linked with automatic knotting kludge, including board and rotating-table apparatus, the rotating-table apparatus set The upper end of board is placed in, the surrounding of the rotating-table apparatus is enclosed successively and is provided with ribbon feeding device 1, lock feeding device 2, lock bag Belting 3, knotting car 4 and the handler 5 for material is loaded and unloaded to knotting car 4.

The present embodiment carries out assembling processing using full-automation, it is to avoid the phenomenons such as misloading, neglected loading occur, and a workman can bear Duty multiple devices, reduce artificial input, reduce cost of labor, and this utility model equipment volume is little, save placing space, no Restricted by hall space size.

In the present embodiment, the rotating-table apparatus include the rotating mechanism that rotating disk 6 is rotated with driving rotating disk, on the rotating disk 6 The mounting seat for placing ribbon and latch is provided with, the rotating mechanism is servomotor, during work, is driven using servomotor Dynamic rotating disk 6 is rotated.

As shown in Figures 2 to 5, the ribbon feeding device 1 includes ribbon feeding-passage 11, the ribbon feeding-passage 11 It is provided with for transmitting the drive mechanism 12 of ribbon, the charging aperture of the ribbon feeding-passage 11 is provided with ribbon turntable mounting 13, The discharging opening of the ribbon feeding-passage 11 is provided with material cutting mechanism 14, and the top of the material cutting mechanism 14 is provided with ribbon gripping Mechanism 15, the drive mechanism 12 include motor 121, and the motor shaft sleeve of the motor 121 is provided with drivewheel 122, the active The top of wheel 122 is provided with synchronizing wheel 123, is provided between ribbon transmission between the drivewheel 122 and synchronizing wheel 123 Every, orientation guide roller set 16 is additionally provided with the charging aperture of the ribbon feeding-passage 11, the orientation guide roller set 16 is located at ribbon Between feeding-passage 11 and ribbon turntable mounting 13, the orientation guide roller set 16 includes that the first orientation deflector roll 161 and the second orientation are led Roller 162, the second orientation deflector roll 162 are arranged at the lower section of the first orientation deflector roll 161, the first orientation deflector roll 161 and institute The interval being provided between the second orientation deflector roll 162 for ribbon transmission is stated, the material cutting mechanism 14 includes pedestal 141, described Pedestal 141 is provided with ribbon mounting table 142, and interval, the interval are provided between the pedestal 141 and ribbon feeding-passage 11 Cutter mechanism is provided with inside, the cutter mechanism includes cutting knife 143 and drives cutting knife 143 to carry out the first cylinder of blank action 144, the piston rod of first cylinder 144 is fixedly connected with the knife rest of cutting knife 143, is provided with the ribbon mounting table 142 Feeding pressure mechanism, the feeding pressure mechanism include the first fixed plate 145 and drive the second cylinder of 145 length travel of the first fixed plate 146, the piston rod of second cylinder 146 is fixedly connected with the first fixed plate 145, and first fixed plate 145 is fixedly installed There is binder handle 147, the ribbon gripping body 15 includes the second fixed plate 151 and drives 151 lateral displacement of the second fixed plate Servo motor 152, second fixed plate 151 are provided with the first mechanical hand 153, drive the first mechanical hand 153 to carry out moving down The 4th dynamic cylinder 154 and the 5th cylinder 155 for driving the first mechanical hand 153 to rotate, first mechanical hand 153 include fixing Seat 1531 and tong portion 1532, the fixed seat 1531 are fixedly connected with the piston rod of the 4th cylinder 154, the tong portion 1532 Top be provided with connecting shaft, the connecting bushing is provided with gear 1533, and the piston rod of the 5th cylinder 155 is connected with tooth bar 1551, the tooth bar 1551 and gear 1533 are engaged, the present embodiment ribbon turntable mounting 13 by ribbon feeding-passage 11 feed to At ribbon mounting table 142, servo motor 152 drives the first mechanical hand 153 to be moved to the top of ribbon mounting table 142, the 4th gas Cylinder 154 drives the first mechanical hand 153 to move down and pick up ribbon, carries out first time material folding, and it is first mechanical that servo motor 152 is driven again Handss 153 are moved at rotating disk 6, and the first mechanical hand 153 places ribbon in mounting seat, and mounting seat is provided with the knot for pushing down ribbon Structure, after pushing down ribbon, the first mechanical hand 153 clamps the other end of ribbon again, and the 5th cylinder 155 drives the first mechanical hand again 153 rotate, and realize turning band action, and servo motor 152 is used to control webbing length, and servo motor 152 drives the first mechanical hand 153 Shift length is equal to the required length for intercepting ribbon.

As shown in Figure 6 to 7, the lock feeding device 2 includes latching feeding-passage 211, the lock feeding-passage 211 charging aperture is provided with the first vibrating disk 212, and the discharging opening of the lock feeding-passage 211 is provided with lock positioning table 213, the top of the lock positioning table 213 is provided with lock gripping body 214, and the lock gripping body 214 includes first 6th cylinder 2142 of fixed block 2141 and driving 2141 lateral displacement of the first fixed block, first fixed block 2141 are provided with Second mechanical hand 2143 and the 7th cylinder 2144 of driving 2143 upper and lower displacement of the second mechanical hand, latch from the first vibrating disk 212 Discharging is entered in lock feeding-passage 211, then is fed to lock positioning table 213, subsequently will by latching gripping body 214 Lock is pinched to the mounting seat of rotating disk 6, and this utility model full-automation carries out latching feeding action, reduces and manually puts into, drop Low production cost, accelerates feeding progress, improve production efficiency, and gas cylinder 2144 drives the second mechanical hand 2143 to move downward, Lock in lock positioning table 213 is picked up, the 6th cylinder 2142 drives 2143 lateral displacement of the second mechanical hand again, just latches Pinch to the mounting seat of rotating disk 6.

As shown in figure 8, the lock band device 3 includes support 321, the support 321 is provided with for pushing down lock Feeding pressure mechanism, the lower section of the support 321 is provided with for being linked with the material jacking mechanism of jack-up, and the support 321 also sets up Have for the band mechanism by cladding lock is linked with, the feeding pressure mechanism includes the 3rd fixed block 322 and drives the 3rd fixed block 322 the 8th cylinders 323 for moving up and down, the 3rd fixed block 322 are provided with for pushing down the depression bar 324 of lock, the top Material mechanism includes ejector beam 325 and drives the 9th cylinder 326 of 325 upper and lower displacement of ejector beam, the band mechanism to include the tenth Cylinder 327, the piston rod of the tenth cylinder 327 are fixedly connected with and compress plate 328, and the effect for latching band device 3 is to hang Band is made lock hang on being linked with, when lock is placed in the mounting seat of rotating disk 6, has been placed in mounting seat through lock It is linked with, lock is placed on the surface of ribbon, the 3rd fixed block 322 drives depression bar 324 to move down and pushes down lock, the 9th cylinder 326 Ejector beam 325 is driven to move up one end jack-up that will be linked with, the driving of the tenth cylinder 327 compresses 328 transverse shifting of plate and will be linked with By one end of 325 jack-up of ejector beam through lock, realize lock hanging on being linked with.

As shown in figure 9, the handler 5 includes the support base 51 being fixedly connected with board, the support base is laterally slided Dynamic to be connected with first slide 52 and the 11st cylinder 53 for driving first slide 52 to move, the first slide 52 is connected with Vertically modulating mechanism 54, the vertically modulating mechanism 54 are connected with longitudinal extension mechanism 55, and the longitudinal extension mechanism 55 connects Have for gripping the cleft hand mechanism 56 of material；Further, the vertically modulating mechanism 54 is included being slided with first slide 52 and is connected The second slide 541 for connecing, and the 12nd cylinder 542 for driving second slide 541 to vertically move；The longitudinal extension machine Structure 55 includes the 3rd slide 551 being slidably connected with second slide 541, and for driving what the 3rd slide 551 was vertically moved 13rd cylinder 552；The cleft hand mechanism 56 includes the 3rd mechanical hand 561 for gripping material and the 3rd mechanical for driving 14th cylinder 562 of handss 561.The operation principle of this handler 5 is：When ribbon and lock Jing ribbons feeding device 1, lock Feeding device 2 and lock band device 3 are fixed in mounting seat after being completed, when mounting seat as turntable rotation is extremely beaten During knot 4 corresponding station of car, the 11st cylinder 53 drives first slide 52 to move, meanwhile, vertically modulating mechanism 54 is to cleft hand machine The height of structure 56 is adjusted, and then the 13rd cylinder 552 of longitudinal extension mechanism 55 drives the 3rd slide 551, makes cleft hand machine Structure 56 clamps the material for having been assembled on erecting bed；And material is loaded into knotting car 4 by same principle, the 4 pairs of assemblings of knotting car Material is knotted, that is, ribbon is carried out knitting closing, and lock is locked in ribbon ring, after the completion of knotting operation, is indulged Drive the 3rd slide 551 to move again to the 13rd cylinder 552 of telescoping mechanism 55, make cleft hand mechanism 56 stretch into knotting car 4 In processing stations, the finished product completed knotting is clamped, and then draws off finished product using longitudinal extension mechanism 55.After completing discharging, Continuing cycling through carries out the knotting operation of next assembling material；It is emphasized that：This handler 5 can also only do feeding work Sequence, after knotting car 4 completes to knot, can carry out automatic blanking furthermore with pusher cylinder or mechanical hand, it is same it is achieved that This no longer enumerates.

Above content is only preferred embodiment of the present utility model, for one of ordinary skill in the art, according to this reality With new thought, will change in specific embodiments and applications, this specification content should not be construed as To restriction of the present utility model.

Claims (9)

1. one kind is linked with automatic knotting kludge, including board and rotating-table apparatus, and the rotating-table apparatus are arranged at the upper end of board, It is characterized in that：The surrounding of the rotating-table apparatus is enclosed successively and is provided with ribbon feeding device（1）, lock feeding device（2）, lock Band device（3）, knotting car（4）And for giving knotting car（4）The handler of handling material（5）.

2. one kind according to claim 1 is linked with automatic knotting kludge, it is characterised in that：The rotating-table apparatus include turning Disk（6）With driving rotating disk（6）The rotating mechanism of rotation, the rotating disk（6）On be provided with for place ribbon and lock installation Seat.

3. one kind according to claim 1 is linked with automatic knotting kludge, it is characterised in that：The ribbon feeding device （1）Including ribbon feeding-passage（11）, the ribbon feeding-passage（11）It is provided with for transmitting the drive mechanism of ribbon（12）, The ribbon feeding-passage（11）Charging aperture be provided with ribbon turntable mounting（13）, the ribbon feeding-passage（11）Discharging opening It is provided with material cutting mechanism（14）, the material cutting mechanism（14）Top be provided with ribbon gripping body（15）.

4. one kind according to claim 3 is linked with automatic knotting kludge, it is characterised in that：The drive mechanism（12）Bag Include motor（121）, the motor（121）Motor shaft sleeve be provided with drivewheel（122）, the drivewheel（122）Top arrange There is synchronizing wheel（123）, the drivewheel（122）With synchronizing wheel（123）Between be provided for ribbon transmission interval, the ribbon Feeding-passage（11）Charging aperture at be additionally provided with orientation guide roller set（16）, the orientation guide roller set（16）It is logical positioned at ribbon charging Road（11）With ribbon turntable mounting（13）Between, the orientation guide roller set（16）Including the first orientation deflector roll（161）With the second orientation Deflector roll（162）, the second orientation deflector roll（162）It is arranged at the first orientation deflector roll（161）Lower section, it is described first orientation deflector roll （161）With the described second orientation deflector roll（162）Between be provided with for ribbon transmission interval, the material cutting mechanism（14）Including Pedestal（141）, the pedestal（141）It is provided with ribbon mounting table（142）, the pedestal（141）With ribbon feeding-passage（11） Between be provided with interval, cutter mechanism is provided with the interval, the cutter mechanism includes cutting knife（143）With driving cutting knife （143）Carry out the first cylinder of blank action（144）, first cylinder（144）Piston rod and cutting knife（143）Knife rest it is solid It is fixed to connect, the ribbon mounting table（142）Place is provided with feeding pressure mechanism, and the feeding pressure mechanism includes the first fixed plate（145）With Drive the first fixed plate（145）Second cylinder of length travel（146）, second cylinder（146）Piston rod and first solid Fixed board（145）It is fixedly connected, first fixed plate（145）It is fixedly installed binder handle（147）, the ribbon gripping body （15）Including the second fixed plate（151）With drive the second fixed plate（151）The servo motor of lateral displacement（152）, described second Fixed plate（151）It is provided with the first mechanical hand（153）, drive the first mechanical hand（153）The 4th cylinder for moving up and down （154）With drive the first mechanical hand（153）The 5th cylinder for rotating（155）, first mechanical hand（153）Including fixed seat （1531）With tong portion（1532）, the fixed seat（1531）With the 4th cylinder（154）Piston rod be fixedly connected, the tong Portion（1532）Top be provided with connecting shaft, the connecting bushing is provided with gear（1533）, the 5th cylinder（155）Piston Bar is connected with tooth bar（1551）, the tooth bar（1551）And gear（1533）Engagement.

5. one kind according to claim 1 is linked with automatic knotting kludge, it is characterised in that：The lock feeding device （2）Including lock feeding-passage（211）, the lock feeding-passage（211）Charging aperture be provided with the first vibrating disk（212）, The lock feeding-passage（211）Discharging opening be provided with lock positioning table（213）, the lock positioning table（213）Top It is provided with lock gripping body（214）, the lock gripping body（214）Including the first fixed block（2141）It is solid with driving first Determine block（2141）6th cylinder of lateral displacement（2142）, first fixed block（2141）It is provided with the second mechanical hand（2143） With drive the second mechanical hand（2143）7th cylinder of upper and lower displacement（2144）.

6. one kind according to claim 1 is linked with automatic knotting kludge, it is characterised in that：The lock band device （3）Including support（321）, the support（321）It is provided with for pushing down the feeding pressure mechanism of lock, the support（321）Under Side is provided with for being linked with the material jacking mechanism of jack-up, the support（321）It is additionally provided with for the bag by cladding lock is linked with Band mechanism, the feeding pressure mechanism include the 3rd fixed block（322）With the 3rd fixed block of driving（322）The 8th cylinder for moving up and down （323）, the 3rd fixed block（322）It is provided with for pushing down the depression bar of lock（324）, the material jacking mechanism includes ejector beam （325）With driving ejector beam（325）9th cylinder of upper and lower displacement（326）, the band mechanism includes the tenth cylinder（327）, Tenth cylinder（327）Piston rod be fixedly connected with and compress plate（328）.

7. one kind according to claim 1 is linked with automatic knotting kludge, it is characterised in that：The handler（5）Bag Include the support base being fixedly connected with board（51）, the support base slides laterally and is connected with first slide（52）And for driving the One slide（52）The 11st mobile cylinder（53）, the first slide（52）It is connected with vertically modulating mechanism（54）, it is described to hang down Straight governor motion（54）It is connected with longitudinal extension mechanism（55）, the longitudinal extension mechanism（55）It is connected with for gripping material Cleft hand mechanism（56）.

8. one kind according to claim 7 is linked with automatic knotting kludge, it is characterised in that：The vertically modulating mechanism （54）Including with first slide（52）The second slide being slidably connected（541）, and for driving second slide（541）It is vertical to move The 12nd dynamic cylinder（542）.

9. one kind according to claim 8 is linked with automatic knotting kludge, it is characterised in that：The longitudinal extension mechanism （55）Including with second slide（541）The 3rd slide being slidably connected（551）, and for driving the 3rd slide（551）Longitudinal direction The 13rd mobile cylinder（552）；The cleft hand mechanism（56）Including for gripping the 3rd mechanical hand of material（561）Be used for Drive the 3rd mechanical hand（561）The 14th cylinder（562）.