CN218224258U - Necking, punching and pipe bending all-in-one machine - Google Patents

Abstract

The utility model relates to a return bend technical field specifically is a throat return bend all-in-one that punches a hole, include: the pipe bender is fixedly arranged at one end part of the upper surface of the base plate of the all-in-one machine; one end of the conveying assembly is arranged at the central symmetrical position in the pipe bender; the grabbing component is arranged on one side of the fixing plate; the beneficial effects are that: the pipe is followed the inside roll out of throat piercing press, the motor drives the gear and rotates, first connecting plate removes along the direction rack, pneumatic gripper is located the pipe when directly over, the automatic cylinder of second drives puts the thing board and moves down, when the bottom joint of pneumatic gripper is when the pipe surface, start pneumatic gripper, pneumatic gripper is with the pipe centre gripping, the centre gripping is accomplished the back, the motor drives first connecting plate through the gear and removes along the direction rack, when the pipe removes to the clamping device of bending machine directly over, two sets of pneumatic grippers loosen, the pipe falls into inside the clamping device of bending machine processing platform, the bending machine is bent the pipe.

Description

Necking, punching and pipe bending all-in-one machine

Technical Field

The utility model relates to a return bend technical field specifically is a throat return bend all-in-one that punches a hole.

Background

The circular tube is a steel material with two open ends and a hollow concentric cross section, and the length of the steel material is larger than that of the periphery. Can be used for pipelines, thermal equipment, machinery industry, petroleum geological drilling, containers, chemical industry and special purposes;

before the round pipe is used, special processing needs to be carried out on the round pipe, such as processing technologies of necking, punching, bending and the like;

the existing necking, punching and bending processes need to be manually carried out in three processes, so that the labor intensity of workers is increased, the working efficiency is lower, and time and labor are wasted.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a throat return bend all-in-one that punches a hole to the pipe throat that proposes in solving above-mentioned background art, punch a hole, return bend need the manual work to divide three processes to go on, the problem that wastes time and energy.

In order to achieve the above purpose, the utility model provides a following technical scheme: the utility model provides a throat return bend all-in-one that punches a hole, throat return bend all-in-one that punches a hole includes:

the pipe bender is fixedly arranged at one end part of the upper surface of the base plate of the all-in-one machine, and the size of the base plate of the all-in-one machine is matched with that of the pipe bender;

one end of the conveying assembly is arranged at the central symmetrical position inside the pipe bender, and the conveying assembly comprises a fixing plate;

snatch the subassembly, snatch the subassembly and set up in one side of fixed plate, snatch the subassembly and include first connecting plate.

Preferably, one side of the pipe bender is provided with a necking punching machine, the bottom of the necking punching machine is fixedly arranged on the upper surface of one side, away from the pipe bender, of the bottom plate of the integrated machine, and the pipe bender is connected with the necking punching machine through the bottom plate of the integrated machine.

Preferably, the fixed plate is of a rectangular structure, the fixed fixing columns are fixedly arranged at the central symmetrical positions of the side wall on one side of the fixed plate, the top ends of the fixing columns are fixedly connected to the top end of the pipe bending machine, the two groups of fixing columns are symmetrically distributed by taking the fixed plate as the center, one end part of the other group of fixing columns, far away from the fixed plate, is fixedly connected to the top of the central symmetrical positions inside the necking punching machine, and the pipe bending machine and the necking punching machine are mutually connected under the matching of the fixed plate and the two groups of fixing columns.

Preferably, one side lateral wall fixedly connected with second slide rail of fixed column is kept away from to the fixed plate, the second slide rail is located the lateral wall upper end of fixed plate, and the length of second slide rail and the length phase-match of fixed plate, be provided with the direction rack under the second slide rail, one side lateral wall fixed connection of direction rack is at the lateral wall of fixed plate, be provided with first slide rail under the direction rack, one side lateral wall fixed connection of first slide rail is at the lateral wall of fixed plate, the length of first slide rail and the length phase-match of second slide rail, and the lateral wall lower extreme of fixed plate has seted up the spacing groove, the spacing groove is located the below of first slide rail, the one end that the spacing groove is close to the bending machine is the tilt up attitude, the length of spacing groove and the length phase-match of fixed plate.

Preferably, the first connecting plate is arranged on one side, away from the fixing column, of the fixing plate, the first connecting plate is of a rectangular structure, a first sliding block is fixedly arranged on one side wall, close to the second sliding rail, of the first connecting plate, the sliding block is connected to the outer surface of the second sliding rail in a sliding and clamping mode, the first sliding block is matched with the second sliding rail in a matching mode, the first sliding block is provided with two groups, the two groups of first sliding blocks are symmetrically distributed by taking the first connecting plate as the center, the distance between the two groups of first sliding blocks is matched with the first sliding rail and the distance between the second sliding rails, the other group of first sliding blocks is connected to the outer surface of the first sliding rail in a sliding and clamping mode, and the first connecting plate slides along the first sliding rails and the second sliding rails under the matching of the two groups of first sliding blocks.

Preferably, the fixed motor that is provided with of one side lateral wall that first slider was kept away from to first connecting plate, the output of motor rotates and passes first connecting plate and fixedly connected with gear, and the gear joint is at the upper surface of direction rack, the size and the direction rack phase-match of gear, and first connecting plate moves along the direction rack under the rotation of motor, and one side of motor is provided with the second slider, second slider fixed connection is at first connecting plate lateral wall.

Preferably, the inside slip joint of second slider has the guide rail, the size and the second slider phase-match of guide rail, and the bottom lateral wall central symmetry position fixedly connected with gag lever post of guide rail, and the guide rail is kept away from to the gag lever post one end tip is pegged graft in the inside of spacing groove, the size and the gag lever post phase-match of spacing groove, and the guide rail is under the drive of gag lever post, along the motion of spacing groove.

Preferably, one side lateral wall bottom fixedly connected with second connecting plate of gag lever post is kept away from to the guide rail, the second connecting plate is the rectangle structure, and the second connecting plate keeps away from the fixed thing board of putting that is provided with of one side lateral wall central symmetry position of guide rail, the transversal "L" type structure of personally submitting of putting the thing board, and put the fixed first automatic cylinder that is provided with in inside of thing board, first automatic cylinder fixed joint is putting between thing board and the second connecting plate, and the output of first automatic cylinder articulates there is the connecting seat, the connecting seat is kept away from the one end tip fixed connection of first automatic cylinder to one side lateral wall central symmetry position of second automatic cylinder.

Preferably, the top end of the second automatic cylinder is hinged inside the fixing base, the fixing base is fixedly arranged at the central symmetrical position of the side wall of one side of the object placing plate, one end of the object placing plate far away from the fixing base is fixedly connected to the end of one end of the guide rail far away from the second connecting plate, and the second automatic cylinder and the first automatic cylinder synchronously move up and down under the driving of the guide rail.

Preferably, the output fixed connection of second automatic cylinder puts the lateral wall central symmetry position of one side of thing board, puts the both ends tip central symmetry position of thing board and all fixes and be provided with the guide bar, and the guide bar is kept away from the one end tip of putting the thing board and is slided the output that passes second automatic cylinder, and puts the thing board and keep away from the fixed pneumatic gripper that is provided with in one end tip central symmetry position of second automatic cylinder, and pneumatic gripper is provided with two sets ofly, and two sets of pneumatic grippers are used to put the thing board and carry out the symmetric distribution as the center.

Compared with the prior art, the beneficial effects of the utility model are that:

the utility model provides a throat return bend all-in-one that punches a hole, the pipe rolls out from throat piercing press inside, the motor drives the gear and rotates, first connecting plate removes along the direction rack, two sets of pneumatic grippers are located the pipe directly over when, the inside piston rod of the automatic cylinder of second drives puts thing board downstream, when the bottom joint of pneumatic gripper is at the pipe surface, start pneumatic gripper, two sets of pneumatic grippers are the pipe centre gripping, the centre gripping is accomplished the back, the motor drives first connecting plate through the gear and removes along the direction rack, when the pipe removes to the clamping device of bending machine directly over, two sets of pneumatic grippers will loosen, the pipe falls into inside the clamping device of bending machine processing platform, then bend the pipe, the throat bending machine that punches a hole, the return bend all-in-one, workman's intensity of labour has been reduced, and production efficiency is improved, the turnaround time of material has been shortened.

Drawings

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

FIG. 2 is a side view of the whole structure of the present invention;

FIG. 3 is a front view of the overall structure of the present invention;

FIG. 4 is a sectional view of the pipe bender and the necking punch of the present invention;

fig. 5 is a schematic view of the connection between the conveying assembly and the gripping and lifting assembly of the present invention;

fig. 6 is a front view of the gripping and lifting assembly of the present invention;

fig. 7 is a side view of the grab lift assembly of the present invention;

figure 8 is the utility model discloses snatch subassembly right side view.

In the figure: the pipe bender comprises a pipe bender 1, a necking and punching machine 2, a conveying assembly 3, a grabbing and lifting assembly 4, a fixing column 5, a fixing plate 6, an all-in-one machine bottom plate 7, a first slide rail 8, a second slide rail 9, a guide rack 10, a limiting groove 11, a first connecting plate 12, a first sliding block 13, a gear 14, a motor 15, a guide rail 16, a limiting rod 17, a pneumatic gripper 18, a second connecting plate 19, a first automatic cylinder 20, an object placing plate 21, a fixing seat 22, a second automatic cylinder 23, a second sliding block 24, a guide rod 25 and a connecting seat 26.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1 to 8, the present invention provides a technical solution: the utility model provides a throat return bend all-in-one that punches a hole, throat return bend all-in-one that punches a hole includes:

the pipe bending machine comprises a pipe bending machine 1, wherein the pipe bending machine 1 is fixedly arranged at one end part of the upper surface of an integrated machine bottom plate 7, the size of the integrated machine bottom plate 7 is matched with that of the pipe bending machine 1, a necking punching machine 2 is arranged on one side of the pipe bending machine 1, the bottom of the necking punching machine 2 is fixedly arranged on the upper surface of one side, away from the pipe bending machine 1, of the integrated machine bottom plate 7, and the pipe bending machine 1 is connected with the necking punching machine 2 through the integrated machine bottom plate 7;

the pipe bending machine comprises a conveying assembly 3, one end of the conveying assembly 3 is arranged at the central symmetrical position inside a pipe bending machine 1, the conveying assembly 3 comprises a fixing plate 6, the fixing plate 6 is of a rectangular structure, fixing columns 5 are fixedly arranged at the central symmetrical position of the side wall of one side of the fixing plate 6, the top ends of the fixing columns 5 are fixedly connected to the top end inside the pipe bending machine 1, two groups of fixing columns 5 are arranged, the two groups of fixing columns 5 are symmetrically distributed by taking the fixing plate 6 as the center, the end part, far away from the fixing plate 6, of the other group of fixing columns 5 is fixedly connected to the top of the central symmetrical position inside a necking punching machine 2, the pipe bending machine 1 and the necking punching machine 2 are mutually connected under the matching of the fixing plate 6 and the two groups of fixing columns 5, the side wall, far away from the fixing columns 5, of the fixing plate 6 is fixedly connected with a second sliding rail 9, the second sliding rail 9 is arranged at the upper end of the side wall of the fixing plate 6, a guide rack 10 is arranged under the second sliding rail 10, the side wall of the first sliding rail 8 is fixedly connected to the side wall of the fixing plate 6, the sliding rail 8 is arranged under the fixing groove 11, and the fixing groove 11 is arranged under the fixing plate 6, and the limiting groove 11, the limiting groove is arranged under the fixing plate 6;

the grabbing component 4 is arranged on one side of the fixed plate 6, the grabbing component 4 comprises a first connecting plate 12, the first connecting plate 12 is arranged on one side of the fixed plate 6 far away from the fixed column 5, the first connecting plate 12 is of a rectangular structure, a first sliding block 13 is fixedly arranged on one side wall of the first connecting plate 12 close to the second sliding rail 9, the first sliding block 13 is connected to the outer surface of the second sliding rail 9 in a sliding and clamping mode, the first sliding block 13 is matched with the second sliding rail 9, two groups of first sliding blocks 13 are arranged, the two groups of first sliding blocks 13 are symmetrically distributed by taking the first connecting plate 12 as the center, the distance between the two groups of first sliding blocks 13 is matched with the distance between the first sliding rail 8 and the second sliding rail 9, the other group of first sliding blocks 13 is connected to the outer surface of the first sliding rail 8 in a sliding and clamping mode, the first connecting plate 12 slides along the first sliding rail 8 and the second sliding rail 9 under the matching of the two groups of first sliding blocks 13, a motor 15 is fixedly arranged on the side wall of one side of the first connecting plate 12 far away from the first sliding block 13, the output end of the motor 15 rotates to penetrate through the first connecting plate 12 and is fixedly connected with a gear 14, the gear 14 is clamped on the upper surface of the guide rack 10, the size of the gear 14 is matched with that of the guide rack 10, the first connecting plate 12 moves along the guide rack 10 under the rotation of the motor 15, a second sliding block 24 is arranged on one side of the motor 15, the second sliding block 24 is fixedly connected on the side wall of the first connecting plate 12, a guide rail 16 is slidably clamped inside the second sliding block 24, the size of the guide rail 16 is matched with that of the second sliding block 24, a limiting rod 17 is fixedly connected at the central symmetrical position of the side wall of the bottom of the guide rail 16, the end part of the limiting rod 17 far away from the guide rail 16 is inserted inside the limiting groove 11, the size of the limiting groove 11 is matched with that of the limiting rod 17, the guide rail 16 is driven by the limiting rod 17, the bottom of the side wall of the guide rail 16 far away from the limiting rod 17 is fixedly connected with a second connecting plate 19 along the limiting groove 11, the second connecting plate 19 is of a rectangular structure, the central symmetrical positions of the side wall of the side far away from the limiting rod 16 of the second connecting plate 19 are fixedly provided with object placing plates 21, the cross sections of the object placing plates 21 are of an L-shaped structure, the inner parts of the object placing plates 21 are fixedly provided with first automatic air cylinders 20, the first automatic air cylinders 20 are fixedly clamped between the object placing plates 21 and the second connecting plate 19, the output ends of the first automatic air cylinders 20 are hinged with connecting seats 26, the end parts of the connecting seats 26 far away from the first automatic air cylinders 20 are fixedly connected to the central symmetrical positions of the side wall of the second automatic air cylinders 23, the end parts of the top ends of the second automatic air cylinders 23 are hinged with the inner parts of the fixing seats 22, the fixing seat 22 is fixedly arranged at the center symmetrical position of the side wall of one side of the object placing plate 21, one end part of the object placing plate 21, far away from the fixing seat 22, is fixedly connected at one end part of the guide rail 16, far away from the second connecting plate 19, of the end part of the object placing plate 21, the second automatic cylinder 23 and the first automatic cylinder 20 synchronously move up and down, the output end of the second automatic cylinder 23 is fixedly connected at the center symmetrical position of the side wall of one side of the object placing plate 21, the center symmetrical positions of the end parts of the two ends of the object placing plate 21 are respectively and fixedly provided with the guide rod 25, one end part of the guide rod 25, far away from the object placing plate 21, slides through the output end of the second automatic cylinder 23, and the center symmetrical position of one end part of the object placing plate 21, which is far away from the second automatic cylinder 23, is fixedly provided with the pneumatic grippers 18, the pneumatic grippers 18 are provided with two sets, and the two sets of pneumatic grippers 18 are symmetrically distributed by taking the object placing plate 21 as the center.

When the device is used, a round pipe to be processed is placed into the necking punch 2 for processing, after the processing is finished, the round pipe rolls out of the necking punch 2, the motor 15 is started, the motor 15 drives the gear 14 to rotate, the gear 14 rotates along the guide rack 10, in the rotating process, the first connecting plate 12 moves along the guide rack 10, in the moving process, the first automatic air cylinder 20 is started, a piston rod in the first automatic air cylinder 20 pushes the guide rod 25, the guide rod 25 rotates by taking the fixed seat 22 as the center of a circle, the rotation is stopped after the guide rod 25 rotates to a certain angle, when the first connecting plate 12 moves to the position above the punched necking round pipe along the second slide rail 9, the motor 15 stops working, then the telescopic rod in the first automatic air cylinder 20 drives the second automatic air cylinder 23 to reset, after the resetting is finished, the two groups of pneumatic grippers 18 are positioned right above the round pipe, starting the second automatic cylinder 23, driving the object placing plate 21 to move downwards by a piston rod in the second automatic cylinder 23, when the bottoms of the two sets of pneumatic grippers 18 are clamped on the outer surface of the round pipe, starting the pneumatic grippers 18, clamping the round pipe by the two sets of pneumatic grippers 18, after clamping is completed, starting the motor 15, driving the first connecting plate 12 to move along the guide rack 10 by the motor 15 through the gear 14, when the round pipe moves towards the direction close to the pipe bender 1, the limiting rod 17 slides in the limiting groove 11, when the limiting rod 17 slides into the inclined end at the end of the limiting groove 11, the limiting rod 17 drives the guide rail 16 to move upwards, when the guide rail 16 moves upwards, driving the second connecting plate 19 and the object placing plate 21 to move upwards together, driving the second automatic cylinder 23 and the pneumatic grippers 18 to move upwards through the fixing seat 22, when the round pipe moves to the position right above the clamping device of the pipe bender 1, the two sets of pneumatic grippers 18 are loosened, the round tube falls into the clamping device of the processing table of the tube bending machine 1, and then the tube bending machine 1 bends the round tube.

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

Claims (10)

1. The utility model provides a throat return bend all-in-one that punches a hole which characterized in that: the necking, punching and pipe bending all-in-one machine comprises:

the pipe bending machine (1), the pipe bending machine (1) is fixedly arranged at one end part of the upper surface of the integrated machine bottom plate (7), and the size of the integrated machine bottom plate (7) is matched with that of the pipe bending machine (1);

one end of the conveying component (3) is arranged at the central symmetrical position in the pipe bender (1), and the conveying component (3) comprises a fixing plate (6);

snatch subassembly (4), snatch subassembly (4) set up in one side of fixed plate (6), snatch subassembly (4) including first connecting plate (12).

2. The necking, punching and pipe bending all-in-one machine according to claim 1, characterized in that: the pipe bending machine is characterized in that a necking punching machine (2) is arranged on one side of the pipe bending machine (1), the bottom of the necking punching machine (2) is fixedly arranged on the upper surface of one side, away from the pipe bending machine (1), of an integrated machine bottom plate (7), and the pipe bending machine (1) is connected with the necking punching machine (2) through the integrated machine bottom plate (7).

3. The necking, punching and pipe bending all-in-one machine according to claim 1, characterized in that: fixed plate (6) are the rectangle structure, the fixed column (5) that is provided with in one side lateral wall central symmetry position of fixed plate (6), the top fixed connection of fixed column (5) is on the inside top of bending machine (1), and fixed column (5) are provided with two sets ofly, two sets of fixed column (5) use fixed plate (6) to carry out the symmetric distribution as the center, the one end tip fixed connection of fixed plate (6) is kept away from in another set of fixed column (5) is at the top of the inside central symmetry position of throat piercing press (2), bending machine (1) and throat piercing press (2) interconnect under the cooperation of fixed plate (6) and two sets of fixed column (5).

4. A necking, punching and pipe bending all-in-one machine according to claim 3, characterized in that: the pipe bending machine is characterized in that a second slide rail (9) is fixedly connected to the side wall of one side, away from the fixing column (5), of the fixing plate (6), the second slide rail (9) is located at the upper end of the side wall of the fixing plate (6), the length of the second slide rail (9) is matched with that of the fixing plate (6), a guide rack (10) is arranged under the second slide rail (9), the side wall of one side of the guide rack (10) is fixedly connected to the side wall of the fixing plate (6), a first slide rail (8) is arranged under the guide rack (10), the side wall of one side of the first slide rail (8) is fixedly connected to the side wall of the fixing plate (6), the length of the first slide rail (8) is matched with that of the second slide rail (9), a limiting groove (11) is formed in the lower end of the side wall of the fixing plate (6), the limiting groove (11) is located under the first slide rail (8), one end, close to the limiting groove (11) is in an upward inclined state, and the length of the fixing plate bending machine (1) is matched with that of the limiting groove (11).

5. The necking, punching and pipe bending all-in-one machine according to claim 1, characterized in that: the first connecting plate (12) is arranged on one side, far away from the fixing column (5), of the fixing plate (6), the first connecting plate (12) is of a rectangular structure, a first sliding block (13) is fixedly arranged on one side wall, close to the second sliding rail (9), of the first connecting plate (12), the first sliding block (13) is in sliding clamping connection with the outer surface of the second sliding rail (9), the first sliding block (13) is matched with the second sliding rail (9), the first sliding blocks (13) are arranged in two groups, the two groups of first sliding blocks (13) are symmetrically distributed by taking the first connecting plate (12) as the center, the distance between the two groups of first sliding blocks (13) is matched with the first sliding rail (8) and the distance between the second sliding rails (9), the other group of first sliding blocks (13) is in sliding clamping connection with the outer surface of the first sliding rail (8), and the first connecting plate (12) slides along the first sliding rail (8) and the second sliding rail (9) under the matching of the two groups of first sliding blocks (13).

6. The necking, punching and pipe bending all-in-one machine according to claim 5, wherein: the fixed motor (15) that is provided with of one side lateral wall that first slider (13) was kept away from in first connecting plate (12), the output of motor (15) rotates and passes first connecting plate (12) and fixedly connected with gear (14), gear (14) joint is at the upper surface of direction rack (10), the size and the direction rack (10) phase-match of gear (14), first connecting plate (12) are under the rotation of motor (15), remove along direction rack (10), and one side of motor (15) is provided with second slider (24), second slider (24) fixed connection is at first connecting plate (12) lateral wall.

7. A necking, punching and pipe-bending all-in-one machine according to claim 6, characterized in that: the inside slip joint of second slider (24) has guide rail (16), the size and the second slider (24) phase-match of guide rail (16), and the bottom lateral wall central symmetry position fixedly connected with gag lever post (17) of guide rail (16), the one end tip that guide rail (16) were kept away from in gag lever post (17) is pegged graft in the inside of spacing groove (11), the size and gag lever post (17) phase-match of spacing groove (11), guide rail (16) are under the drive of gag lever post (17), along spacing groove (11) motion.

8. A necking, punching and pipe-bending all-in-one machine according to claim 7, characterized in that: one side lateral wall bottom fixedly connected with second connecting plate (19) of gag lever post (17) is kept away from in guide rail (16), second connecting plate (19) are the rectangle structure, and second connecting plate (19) keep away from one side lateral wall central symmetry position of guide rail (16) and fix and be provided with and put thing board (21), the transversal "L" type structure of personally submitting of putting thing board (21), and the inside of putting thing board (21) is fixed and is provided with first automatic cylinder (20), first automatic cylinder (20) fixed joint is putting between thing board (21) and second connecting plate (19), and the output of first automatic cylinder (20) articulates there is connecting seat (26), the one end tip fixed connection of keeping away from first automatic cylinder (20) in connecting seat (26) is to one side lateral wall central symmetry position of second automatic cylinder (23).

9. A necking, punching and pipe-bending all-in-one machine according to claim 8, wherein: the top end of second automatic cylinder (23) articulates in the inside of fixing base (22), and fixing base (22) are fixed to be set up in one side lateral wall central symmetry position of putting thing board (21), and the one end tip fixed connection of putting thing board (21) and keeping away from fixing base (22) keeps away from the one end tip of second connecting plate (19) in guide rail (16), and under the drive of guide rail (16), second automatic cylinder (23) and first automatic cylinder (20) reciprocate in step.

10. A necking, punching and pipe-bending all-in-one machine according to claim 9, characterized in that: the output fixed connection of second from actuating cylinder (23) puts the central symmetric position of one side lateral wall of thing board (21), put the both ends tip central symmetric position of thing board (21) and all fixedly be provided with guide bar (25), the guide bar (25) are kept away from the one end tip of putting thing board (21) and are slided the output that passes second from actuating cylinder (23), and put the fixed pneumatic gripper (18) that is provided with in one end tip central symmetric position that second from actuating cylinder (23) was kept away from to thing board (21), pneumatic gripper (18) are provided with two sets ofly, two sets of pneumatic gripper (18) are used to put thing board (21) and are carried out the symmetric distribution as the center.

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