CN218554804U

CN218554804U - Material distribution mechanism for detection machine

Info

Publication number: CN218554804U
Application number: CN202220547062.4U
Authority: CN
Inventors: 杨国强; 蒲佳晶
Original assignee: Chengdu Guangrun Hengchuang Intelligent Technology Co ltd
Current assignee: Chengdu Guangrun Hengchuang Intelligent Technology Co ltd
Priority date: 2022-03-14
Filing date: 2022-03-14
Publication date: 2023-03-03
Anticipated expiration: 2032-03-14

Abstract

The utility model discloses a material distributing mechanism for a detecting machine, which comprises a first material conveying belt, a second material conveying belt and a material distributing and grabbing mechanism which are fixed on a workbench; the material distributing and grabbing mechanism comprises a tenth mounting seat fixed on the workbench, a transverse screw rod assembly fixed on the tenth mounting seat along the transverse direction, a transverse sliding seat connected with the transverse screw rod assembly, a rotary swing cylinder arranged on the transverse sliding seat along the longitudinal direction, a grabbing cylinder arranged at the bottom of the rotary swing cylinder, and a grabbing head arranged on the grabbing cylinder, driven by the grabbing cylinder, used for grabbing a mounting box on a material belt and placed on a first material conveying belt or a second material conveying belt. By the proposal, the utility model has the advantages of simple structure, detect comprehensive reliable, detect high-efficient accuracy, have very high practical value and spreading value in chip box detection technology field.

Description

Material distribution mechanism for detection machine

Technical Field

The utility model belongs to the technical field of the chip box detects technique and specifically relates to a feed mechanism for detecting machine.

Background

The technology carries out full-automatic detection and screening on the millimeter radar wave chip storage and installation box; the millimeter wave radar technology is widely applied to the fields of deep space satellite communication, communication and the like. Among them, the millimeter wave radar has been used in high-grade automobiles since the last century, and has been widely used in Advanced Driving Assistance Systems (ADAS). The ADAS system needs a plurality of sensors to work in a matched mode, and the millimeter wave radar becomes an indispensable core sensor of the ADAS due to numerous advantages and is also a key sensor in automatic driving.

At present, the millimeter radar wave chip in the prior art is integrally tested with a mounting box after being mounted, wherein the mounting box is shown in fig. 1. The millimeter radar wave chip has a complex use environment and has high requirements on the installation precision of the chip. The prior art has no fully automatic and reliable millimeter radar wave chip box detection machine temporarily, and the prior art only depends on the appearance of the mounting box to be detected in a naked eye mode, so that the reliability is poor, and the efficiency is low.

Therefore, the applicant especially provides a millimeter radar wave chip box detector which comprises a workbench, a feeding mechanism, a POST and gate detection mechanism, an O/S detection mechanism, a contact pin detection mechanism, an interface position detection mechanism, a marking mechanism, a material distribution mechanism and a material belt. After the detection, the mounting box needs to be classified into qualified products and unqualified products. However, the existing material distributing mechanism in the prior art is not matched with the detecting machine and is efficient and reliable.

SUMMERY OF THE UTILITY MODEL

To the above problem, an object of the utility model is to provide a feed mechanism for detecting machine, the utility model discloses a technical scheme as follows:

a material distribution mechanism for a detection machine is arranged on a workbench and used for distributing a mounting box on a material belt, and comprises a first material conveying belt, a second material conveying belt and a material distribution grabbing mechanism, wherein the first material conveying belt, the second material conveying belt and the material distribution grabbing mechanism are fixed on the workbench;

the material distributing and grabbing mechanism comprises a tenth mounting seat fixed on the workbench, a transverse screw rod assembly fixed on the tenth mounting seat along the transverse direction, a transverse sliding seat connected with the transverse screw rod assembly, a rotary swing cylinder arranged on the transverse sliding seat along the longitudinal direction, a grabbing cylinder arranged at the bottom of the rotary swing cylinder, and a grabbing head arranged on the grabbing cylinder, driven by the grabbing cylinder, used for grabbing a mounting box on a material belt and placed on a first material conveying belt or a second material conveying belt.

Preferably, the material belt comprises a propelling material belt fixed on the workbench and a plurality of detection clamps bridged on the propelling material belt; the grabbing head grabs the mounting box on the detection clamp at the tail end in the detection direction.

Furthermore, the detection clamp comprises an eleventh installation seat, a first fixing clamp seat which is arranged on one side of the top of the eleventh installation seat and is in an L shape, a second fixing clamp seat which is arranged on the other side of the top of the eleventh installation seat, a first clamping cylinder which is arranged on the top of the eleventh installation seat and is positioned on the same side with the first fixing clamp seat, a second clamping cylinder which is arranged on the top of the eleventh installation seat and is positioned on the same side with the second fixing clamp seat, movable clamp seats which are arranged on the first clamping cylinder and the second clamping cylinder in a one-to-one correspondence manner, and a plurality of photoelectric sensors which are arranged on the eleventh installation seat.

Compared with the prior art, the utility model discloses following beneficial effect has:

the utility model realizes the classification of qualified products and unqualified products by arranging the material distribution mechanism; the utility model realizes full-automatic reliable detection from feeding, detecting and marking to final material distribution and blanking;

to sum up, the utility model has the advantages of simple structure, detect comprehensive reliable, detect high-efficient accuracy etc, have very high practical value and spreading value in chip box detection technology field.

Drawings

In order to illustrate the technical solutions of the embodiments of the present invention more clearly, the drawings that now make a brief description of the embodiments and that need to be used, it being understood that the following drawings only show some embodiments of the present invention and are therefore not to be considered limiting of the scope of protection, it being possible for a person skilled in the art to derive from these drawings other related drawings without inventive step.

Fig. 1 is a schematic structural diagram of the mounting box of the present invention.

Fig. 2 is a schematic structural diagram (a) of the present invention.

Fig. 3 is a schematic structural diagram (ii) of the present invention.

Fig. 4 is a schematic structural diagram (a) of the feeding mechanism of the present invention.

Fig. 5 is a schematic structural diagram (ii) of the middle feeding mechanism of the present invention.

FIG. 6 is a schematic structural diagram of the mid-POST and the gate detection mechanism and the O/S detection mechanism of the present invention.

Fig. 7 is a schematic structural diagram (a) of the POST and gate detection mechanism of the present invention.

Fig. 8 is a schematic structural diagram (ii) of the POST and gate detection mechanism of the present invention.

Fig. 9 is a schematic structural diagram (iii) of the mid-POST and gate detection mechanism of the present invention.

Fig. 10 is a schematic structural diagram (a) of the O/S detection mechanism according to the present invention.

Fig. 11 is a schematic structural diagram (ii) of the O/S detection mechanism of the present invention.

Fig. 12 is a schematic structural diagram of the middle pin detecting mechanism of the present invention.

Fig. 13 is a schematic structural view of the middle bayonet connection detection mechanism of the present invention.

Fig. 14 is a schematic structural diagram (a) of the PIN height detecting mechanism according to the present invention.

Fig. 15 is a schematic structural diagram (ii) of the PIN height detecting mechanism of the present invention.

Fig. 16 is a schematic structural diagram (iii) of the PIN height detecting mechanism of the present invention.

Fig. 17 is a schematic structural view of the middle pressing actuator of the present invention.

Fig. 18 is a schematic structural diagram (one) of the middle interface position detection mechanism of the present invention.

Fig. 19 is a schematic structural diagram (ii) of the middle interface position detection mechanism of the present invention.

Fig. 20 is a schematic structural view of the middle detection fixture of the present invention.

Fig. 21 is a schematic structural diagram of the material distributing mechanism of the present invention.

Fig. 22 is the structure schematic diagram of the middle separating material grabbing mechanism of the present invention.

Fig. 23 is a schematic structural view of the middle material belt of the present invention.

Fig. 24 is a schematic structural view of the material belt of the present invention.

In the drawings, the names of the parts corresponding to the reference numerals are as follows:

1. a work table; 2. a feeding mechanism; 3. POST and a pouring gate detection mechanism; 4. a pin detection mechanism; 5. An interface position detection mechanism; 6. a marking mechanism; 7. a material distributing mechanism; 8. a material belt; 9. mounting a box; 10. an O/S detection mechanism; 21. a first mounting seat; 22. a transverse moving module; 23. a first gripping mechanism; 24. a second gripping mechanism; 241. a first slide plate; 242. a first transverse plate; 243. a first longitudinal cylinder; 244. a first longitudinal slide; 245. a first transverse clamping cylinder; 246. a gripping head; 31. a second mounting seat; 321. a third mounting seat; 323. a gate detection mechanism; 324. a first vertical seat; 325. a second longitudinal cylinder; 326. a first material pressing base; 3231. a first slider module; 3232. a first longitudinal gas bar; 3233. a displacement sensor; 3251. A second slide plate; 102. a second vertical base; 103. a third longitudinal cylinder; 104. a third slide plate; 105. a second material pressing seat; 107. a transverse support plate; 108. a second transverse cylinder; 109. a first transverse slide; 1091. a connector plug; 41. the contact pin is connected with the detection mechanism; 42. a connector PIN height detection mechanism; 43. a material pressing actuating mechanism; 44. the PCB is connected with the PIN height detection mechanism; 45. a fourth mounting seat; 411. a fifth mounting seat; 412. a connector plugging mechanism; 413. a PCB pin connecting mechanism; 4131. a first servo motor; 4132. A third slide plate; 4133. a plug-in connector; 421. a sixth mounting seat; 422. a first CCD camera module; 431. A seventh mounting seat; 432. a fourth longitudinal cylinder; 433. a second longitudinal slide; 434. a transverse linkage plate; 435. Briquetting; 441. a second CCD camera module; 442. a third vertical seat; 443. a fifth longitudinal cylinder; 444. A third longitudinal slide; 445. a PIN adapter; 51. a connector end position detection mechanism; 52. a PCB end position detection mechanism; 511. an eighth mount pad; 512. a third CCD camera module; 521. a ninth mount; 522. a fourth CCD camera module; 5211. a sixth longitudinal cylinder; 5212. a fourth longitudinal slide; 5213. pressing a plate; 71. a first material conveying belt; 72. a second material conveying belt; 73. a material distributing and grabbing mechanism; 731. a tenth mount; 732. a transverse screw assembly; 733. a transverse slide carriage; 734. a rotary oscillating cylinder; 735. a grabbing cylinder; 736. a gripper head; 81. propelling a material belt; 82. detecting the clamp; 821. an eleventh mount; 822. A first stationary holder; 823. a first clamping cylinder; 824. a second stationary jaw; 825. a second clamping cylinder; 826. a movable holder; 827. a photoelectric sensor.

Detailed Description

To make the objectives, technical solutions and advantages of the present application more clear, the present invention will be further described with reference to the accompanying drawings and examples, and embodiments of the present invention include, but are not limited to, the following examples. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Examples

As shown in fig. 2 to 24, the present embodiment provides a millimeter radar wave chip box inspection machine for performing full automatic inspection on a mounting box 9 of a millimeter radar wave chip, which mainly includes a workbench 1, a feeding mechanism 2, a POST and gate detection mechanism 3, an O/S detection mechanism 10, a pin detection mechanism 4, an interface position detection mechanism 5, a marking mechanism 6 and a material distribution mechanism 7, which are disposed on the workbench 1, and a material belt 8 disposed on the workbench 1, and used for receiving the feeding of the feeding mechanism 2 and transmitting the feeding to the material distribution mechanism 7 to provide a plurality of inspection stations. In the present embodiment, the positional order of the POST and gate detection mechanism 3, the O/S detection mechanism 10, the pin detection mechanism 4, and the interface position detection mechanism 5 may be adjusted, and it is sufficient that the positional order corresponds to the position of the detection jig 82. In the present embodiment, the terms of the numbers such as "first" and "second" are used only for distinguishing the similar components, and the scope of protection should not be specifically limited. In the present embodiment, the terms of orientation such as "bottom", "top", "peripheral edge", "center", and the like are explained based on the drawings. In this embodiment, the CCD camera module, the adapter, the plug and the like belong to conventional components, and are not described herein again.

As shown in fig. 4 to 5, the feeding mechanism 2 of the present embodiment includes a first mounting base 21 fixed on the table 1, a traverse module 22 provided on the first mounting base 21 in a traverse direction, and a first gripping mechanism 23 and a second gripping mechanism 24 connected to the traverse module 22 and gripping the mounting box and placing it on the inspection jig 82. In the present embodiment, the first and second

grasping mechanisms

23 and 24 have the same structure, and the structural configuration will be described by taking the second grasping mechanism 24 as an example only, and the first grasping mechanism 23 includes a first sliding plate 241 arranged along the longitudinal direction and having a bottom connected to the traverse module 22, a first cross plate 242 having one end fixed to the top of the first sliding plate 241, a first longitudinal cylinder 243 fixed to the other end of the first cross plate 242, a first longitudinal sliding plate 244 connected to the first longitudinal cylinder 243, a first lateral holding cylinder 245 fixed to the bottom of the first longitudinal sliding plate 244, and a pair of grasping heads 246 provided on the first lateral holding cylinder 245. In this embodiment, the transverse moving module 22 and the first longitudinal cylinder 243 are used for coordination and move to the loading position of the mounting box, and the first transverse clamping cylinder 245 is used for driving the clamping head 246 to clamp and place the material on the propelling material belt 81.

As shown in fig. 6 to 9, in the present embodiment, the POST and gate detection mechanism 3 includes a third mounting seat 321 fixed on the table 1 for supporting the detection jig 82, a gate detection mechanism 323 arranged at the bottom of the third mounting seat 321, a first vertical seat 324 fixed on the third mounting seat 321, a second vertical cylinder 325 fixed on the top of the first vertical seat 324 along the longitudinal direction, a second sliding plate 3251 connected with the second vertical cylinder 325, and a first material pressing seat 326 arranged at the upper part of the detection jig 82 and connected with the second sliding plate 3251; in addition, the gate detecting mechanism 323 of the present embodiment includes a first slider module 3231 fixed to the bottom of the third mounting seat 321, a first longitudinal air bar 3232 fixed to the first slider module 3231, and a displacement sensor 3233 connected to the first slider module 3231. In this embodiment, the displacement sensor 3233 is pushed by the first longitudinal air rod 3232 to move to the gate position at the bottom of the mounting box, and data acquisition is performed to acquire length information. In addition, the present embodiment uses the second longitudinal cylinder 325 to push the first material pressing base 326 to move downward and press it in the mounting box at the upper part of the detection jig 82.

As shown in fig. 10 to 11, the O/S detection mechanism 10 of the present embodiment includes a second mounting seat 31, a PCB detection mechanism and a connector detection mechanism, which are disposed on the second mounting seat 31 and matched with the detection stations on the tape 8. The PCB detection mechanism includes a second vertical base 102 fixed on the second mounting base 31, a third longitudinal cylinder 103 fixed on the top of the second vertical base 102, a third sliding plate 104 connected to the third longitudinal cylinder 103, and a second material pressing base 105 connected to the third sliding plate 104 and clamped and matched to the detection fixture 82. In addition, the connector detection mechanism of the present embodiment includes a lateral support plate 107 fixed on the second mounting seat 31, a second lateral cylinder 108 fixed on the lateral support plate 107 and away from one end of the PCB detection mechanism, a first lateral slide plate 109 connected with the second lateral cylinder 108, and a connector plug 1091 fixedly connected with the first lateral slide plate 109 and close to the connector of the mounting box. In this embodiment, the pins in the mounting box are L-shaped, so that the PCB detection mechanism and the connector detection mechanism are arranged in L-shape, and the third longitudinal cylinder 103 is used to drive the second material pressing base 105 to press on the mounting box; and the second transverse cylinder 108 is used to drive the connector insert 1091 into the connector of the mounting box.

As shown in fig. 12 to 17, the PIN detection mechanism 4 of the present embodiment includes a PIN connection detection mechanism 41, a connector PIN height detection mechanism 42, a swage execution mechanism 43, and a PCB connection PIN height detection mechanism 44 provided on the table 1. Wherein, connector PIN height detection mechanism 42 and PCB connection PIN height detection mechanism 44 are fixed on fourth mount 45.

Specifically, the pin connection detecting mechanism 41 of the present embodiment includes a fifth mounting base 411 fixed on the table 1, a connector plugging mechanism 412 and a PCB pin connecting mechanism 413 fixed on the fifth mounting base 411 and having the same structure; the PCB pin connecting mechanism 413 includes a first servo motor 4131 fixed on the fifth mounting seat 411, a third slide plate 4132 slidably disposed on the fifth mounting seat 411 and connected to the first servo motor 4131 by a belt chain, and a plug 4133 disposed at the bottom of the third slide plate 4132. In this embodiment, the third slide plate 4132 and the socket 4133 are driven to move by the first servo motor 4131, and the socket 4133 is inserted into the PCB pin.

In the present embodiment, the connector PIN height detection mechanism 42 includes a sixth mounting seat 421 fixed on the fourth mounting seat 45, and a first CCD camera module 422 fixed on the sixth mounting seat 421 in the longitudinal direction and facing the detection jig 82. In addition, the PCB connection PIN height detecting mechanism 44 of the present embodiment includes a second CCD camera module 441 and a third vertical base 442 fixed on the fourth mounting base 45, a fifth vertical cylinder 443 provided at the top of the third vertical base 442, a third vertical sliding plate 444 connected to the fifth vertical cylinder 443, and a PIN adapter 445 provided on the third vertical sliding plate 444 and connected to the PIN connection end of the PCB of the mounting box. In the present embodiment, the heights of the PINs are respectively detected by the first CCD camera module 422 and the second CCD camera module 441.

In addition, in order to realize reliable detection, detection errors caused by the deviation of the clamping position of the mounting box are avoided; in this embodiment, the material pressing actuator 43 includes a seventh mounting seat 431 fixed on the fourth mounting seat 45, a fourth longitudinal cylinder 432 arranged at the top of the seventh mounting seat 431, a second longitudinal sliding plate 433 connected with the fourth longitudinal cylinder 432, a transverse linkage plate 434 connected with the bottom of the second longitudinal sliding plate 433 in the middle, and press blocks 435 which are arranged at the lower end of the transverse linkage plate 434 in a one-to-one correspondence manner and are in one-to-one correspondence with detection stations of the connector PIN height detection mechanism 42 and the PIN height detection mechanism 44 connected with the PCB. In the present embodiment, the pressing block 435 is pushed by the fourth vertical cylinder 432 to press against the detection jigs 82 on the connector PIN height detection mechanism 42 and the PCB connection PIN height detection mechanism 44, respectively.

As shown in fig. 18 to 19, the interface position detection mechanism 5 of the present embodiment includes a connector end position detection mechanism 51 and a PCB end position detection mechanism 52 provided on the table 1. In the present embodiment, the interface position is detected from the lateral direction and the longitudinal direction. The connector end position detection mechanism 51 includes an eighth mounting seat 511 fixed to the workbench 1, and a third CCD camera module 512 arranged on the eighth mounting seat 511 along the transverse direction; the PCB end position detecting mechanism 52 includes a ninth mounting base 521 fixed on the worktable 1, and a fourth CCD camera module 522 arranged on the ninth mounting base 521 along the longitudinal direction.

In this embodiment, in order to avoid detecting that the CCD camera module is blocked, the swaging mechanism is disposed on the detecting clamp 82, that is, the detecting clamp 82 is provided with position detecting swaging mechanisms corresponding to the connector end position detecting mechanism 51 and the PCB end position detecting mechanism one to one. The position detecting and pressing mechanism includes a sixth longitudinal cylinder 5211 disposed on the detecting clamp 82, a fourth longitudinal sliding plate 5212 slidably connected to the side wall of the detecting clamp 82 and connected to the sixth longitudinal cylinder 5211, and a pressing plate 5213 connected to the fourth longitudinal sliding plate 5212 and forming an inverted L shape together with the fourth longitudinal sliding plate 5212. When the mounting box to be tested moves to the detection stations of the connector end position detection mechanism 51 and the PCB end position detection mechanism, the pressing plate 5213 is driven by the sixth longitudinal cylinder 5211 to press the mounting box.

As shown in fig. 21 to 22, the material distribution mechanism 7 of the present embodiment includes a first material conveying belt 71, a second material conveying belt 72, and a material distribution gripping mechanism 73 fixed on the table 1. The first material conveying belt 71 and the second material conveying belt 72 may be arranged in an L shape. The divided material grabbing mechanism 73 comprises a tenth mounting seat 731 fixed on the workbench 1, a transverse screw rod assembly 732 fixed on the tenth mounting seat 731 in the transverse direction, a transverse sliding seat 733 connected with the transverse screw rod assembly 732, a rotary swing air cylinder 734 arranged on the transverse sliding seat 733 in the longitudinal direction, a grabbing air cylinder 735 arranged at the bottom of the rotary swing air cylinder 734, and a grabbing head 736 arranged on the grabbing air cylinder 735, driven by the grabbing air cylinder 735, grabbing the mounting box on the detection clamp 82 and placing on the first material conveying belt 71 or the second material conveying belt 72. According to the detection result of the mounting box, the grasping cylinder 735 is used to grasp and place the object on the first material conveying belt 71 or the second material conveying belt 72.

As shown in fig. 20, 23 and 24, the material tape 8 of the present embodiment includes a feed material tape 81, and a plurality of detection jigs 82 bridging over the feed material tape 81 and providing detection stations for holding the mounting boxes. The detecting fixture 82 includes an eleventh mounting seat 821, a first fixing holder 822 disposed on one side of the top of the eleventh mounting seat 821 and having an L-shape, a second fixing holder 824 disposed on the other side of the top of the eleventh mounting seat 821, a first clamping cylinder 823 disposed on the top of the eleventh mounting seat 821 and located on the same side as the first fixing holder 822, a second clamping cylinder 825 disposed on the top of the eleventh mounting seat 821 and located on the same side as the second fixing holder 824, movable holders 826 disposed on the first clamping cylinder 823 and the second clamping cylinder 825 in a one-to-one correspondence manner, and a plurality of photosensors 827 disposed on the eleventh mounting seat 821. In this embodiment, the mounting box is transported along the direction of the feeding belt 81, and moved to any one of the detection clamps 82, and is driven to clamp by the first clamping cylinder 823 and the second clamping cylinder 825, and is subjected to position detection by the photoelectric sensor 827.

In the embodiment, the feeding mechanism 2 is used for feeding, the propelling material belt 81 is used for conveying, and the detection clamp 82 is used for clamping at any detection station; on the corresponding detection station, the POST and sprue detection mechanism 3, the O/S detection mechanism 10, the contact pin detection mechanism 4 and the interface position detection mechanism 5 are used for detection, the marking mechanism is used for label printing in the detection, and finally, the material distribution mechanism 7 is used for material distribution; in this embodiment, the cartridge travel is driven by the pusher belt 81.

The above-mentioned embodiment is only the preferred embodiment of the present invention, and is not a limitation to the protection scope of the present invention, but all the changes made by adopting the design principle of the present invention and performing non-creative work on this basis shall fall within the protection scope of the present invention.

Claims

1. A material distribution mechanism for a detection machine is arranged on a workbench (1) and used for distributing a mounting box (9) on a material belt (8), and is characterized by comprising a first material conveying belt (71), a second material conveying belt (72) and a material distribution grabbing mechanism (73), wherein the first material conveying belt (71), the second material conveying belt (72) and the material distribution grabbing mechanism are fixed on the workbench (1);

the distributing and grabbing mechanism (73) comprises a tenth mounting seat (731) fixed on the workbench (1), a transverse screw rod assembly (732) fixed on the tenth mounting seat (731) along the transverse direction, a transverse sliding seat (733) connected with the transverse screw rod assembly (732), a rotary swing air cylinder (734) arranged on the transverse sliding seat (733) along the longitudinal direction, a grabbing air cylinder (735) arranged at the bottom of the rotary swing air cylinder (734), and a grabbing head (736) arranged on the grabbing air cylinder (735), driven by the grabbing air cylinder (735), grabbing a mounting box on a material belt (8) and placing on the first material conveying belt (71) or the second material conveying belt (72).

2. The feed mechanism of claim 1, wherein the material belt (8) comprises a propelling material belt (81) fixed on the workbench (1) and a plurality of detection clamps (82) sequentially bridged on the propelling material belt (81) along the detection direction; the grabbing head (736) grabs the mounting box (9) on the detection clamp (82) at the tail end in the detection direction.

3. The material distributing mechanism for the detecting machine according to claim 2 is characterized in that the detecting clamp (82) comprises an eleventh mounting seat (821), a first fixed clamping seat (822) which is arranged on one side of the top of the eleventh mounting seat (821) and is in an L shape, a second fixed clamping seat (824) which is arranged on the other side of the top of the eleventh mounting seat (821), a first clamping cylinder (823) which is arranged on the top of the eleventh mounting seat (821) and is on the same side with the first fixed clamping seat (822), a second clamping cylinder (825) which is arranged on the top of the eleventh mounting seat (821) and is on the same side with the second fixed clamping seat (824), movable clamping seats (826) which are arranged on the first clamping cylinder (823) and the second clamping cylinder (825) in a one-to-one correspondence mode, and a plurality of photoelectric sensors (827) which are arranged on the eleventh mounting seat (821).