CN219923736U

CN219923736U - CCD camera shooting detection equipment

Info

Publication number: CN219923736U
Application number: CN202321324969.5U
Authority: CN
Inventors: 陈耀丽
Original assignee: Zhejiang Hongte Alloy Co ltd
Current assignee: Zhejiang Hongte Alloy Co ltd
Priority date: 2023-05-26
Filing date: 2023-05-26
Publication date: 2023-10-31
Anticipated expiration: 2033-05-26

Abstract

The utility model discloses CCD (charge coupled device) camera detection equipment, which comprises a glass turntable, a vibration feeding mechanism, an intelligent control processor, a discharging mechanism, a first CCD camera, a second CCD camera, a third CCD camera, a fourth CCD camera and a fifth CCD camera which are arranged around the glass turntable at intervals, wherein when the glass turntable rotates circumferentially, a plurality of bearing sleeves are driven to sequentially pass through stations where the five CCD cameras are positioned, graphic information of the heights, the angles C, the inner diameters and the outer diameters of the bearing sleeves can be respectively acquired through the first to the fifth CCD cameras, and the graphic information can be sent to the intelligent control processor to be compared and analyzed with a qualified image, so that whether the appearance size, the angles C and the surface quality of the bearing sleeves are qualified or not is judged, and the bearing sleeves which are qualified in detection are conveyed into the qualified box through the discharging mechanism.

Description

CCD camera shooting detection equipment

Technical Field

The utility model relates to the technical field of automatic detection, in particular to CCD (charge coupled device) camera shooting detection equipment.

Background

With the development of industrial production, the requirements on production efficiency are higher and higher, so that the requirements on automation equipment are higher and higher. In the manufacturing industry, in particular, for precise workpiece products such as silver points and bearing sleeves with high surface quality requirements, the volume of the precise workpiece products is very small, and in order to ensure the product quality and the use safety, the quality of the precise workpiece products needs to be detected or sampled after the production is finished, wherein the prior bearing sleeve 01 as shown in fig. 5 needs to detect whether the appearance size of the bearing sleeve 01 is qualified or not, and the design of chamfer 02 is carried out according to the two ends of the inner hole of the bearing sleeve 01, so that the C angle size of the bearing sleeve 01 also needs to be detected. At present, products such as bearing sleeves and the like are usually detected by manually screening good products and defective products of the products. Although operators can judge whether the size of the product is qualified through tools such as calipers, the C angles at two ends of the bearing sleeve are difficult to accurately detect, so that the problem that the error rate is large, the artificial error is easy to occur, the working efficiency is low, and the labor cost is high is solved. With the development of CCD technology, according to the CCD vision system, an industrial camera is used to replace eyes to complete the functions of identification, measurement, positioning and the like, the CCD vision system mainly comprises an optical system (micro lens), a CCD, an image processing module and the like, and for this purpose, a person skilled in the art is developing and designing CCD detection equipment capable of accurately detecting the external dimension and the C angle of a bearing sleeve.

Disclosure of Invention

Therefore, the utility model aims to solve the technical problems that the bearing sleeve in the prior art depends on an operator to judge whether the product size is qualified or not through tools such as calipers, but the C angles at two ends of the bearing sleeve are difficult to accurately detect, so that the detection error rate is high, the working efficiency is low, and the labor cost is high.

In order to solve the above problems, the present utility model provides a CCD image pickup detecting apparatus for detecting an outer dimension and a C angle of a bearing housing, comprising:

the glass turntable is rotationally arranged on the mounting frame;

the vibration feeding mechanism is provided with a feeding rail extending to the glass turntable and sequentially conveying the bearing sleeves to the glass turntable through the feeding rail;

the detection assembly comprises a first CCD camera, a second CCD camera, a third CCD camera, a fourth CCD camera and a fifth CCD camera which are arranged around the glass turntable at intervals, wherein the first CCD camera is horizontally arranged and used for capturing and collecting the height image information of the bearing sleeve, the second CCD camera and the third CCD camera are obliquely arranged and used for capturing and collecting the C-angle image information at two ends of the bearing sleeve respectively, and the fourth CCD camera and the fifth CCD camera are vertically arranged and used for capturing and collecting the inner diameter image information and the outer diameter image information of the bearing sleeve respectively;

the intelligent control processor is connected with the detection assembly and is used for receiving various image information of the first to fifth CCD cameras and judging whether the image information is in a qualified image range or not;

the discharging mechanism is arranged on the rotating path of the glass turntable and positioned after the working procedure of the detection assembly, and is used for conveying the bearing sleeve which is qualified in detection to the qualified box and conveying the bearing sleeve which is unqualified in detection to the unqualified box under the driving of the intelligent control processor.

As a preferable scheme, the first to fifth CCD cameras are respectively arranged on the mounting frame through a plurality of groups of adjusting rod pieces, each adjusting rod piece comprises a vertical rod vertically fixed on the mounting frame and a cross rod movably arranged on the vertical rod, and an adjusting sliding block for installing any CCD camera is movably arranged on the cross rod.

As a preferable scheme, the first CCD camera is mounted on the adjusting rod and parallel to the glass turntable, so that the camera is aligned with the side wall of the bearing housing.

As a preferable scheme, the second CCD camera is arranged on the adjusting rod piece and faces the glass turntable obliquely upwards, so that a camera of the second CCD camera is aligned with the lower end C angle position of the bearing sleeve; the third CCD camera is arranged on the adjusting rod piece and obliquely faces downwards to the glass turntable, so that the camera position of the third CCD camera is aligned with the upper end C angle position of the bearing sleeve.

As a preferable scheme, the fourth CCD camera is arranged on the adjusting rod piece and faces the glass turntable vertically downwards, so that the camera of the fourth CCD camera is aligned with the inner hole of the bearing sleeve; the fifth CCD camera is arranged on the adjusting rod piece and faces the glass turntable vertically downwards, so that a camera of the fifth CCD camera is aligned with the upper round end of the bearing sleeve.

As a preferable scheme, the discharging mechanism comprises an arc-shaped frame arranged on the periphery of the glass turntable, a plurality of adjusting plates movably arranged on the arc-shaped frame and extending to the upper side of the glass turntable, and a plurality of pneumatic spray heads arranged on one ends of the adjusting plates, wherein the pneumatic spray heads correspondingly blow bearing sleeves into the qualified boxes or the unqualified boxes by spraying strong pressure gas.

As a preferable scheme, the mounting frame is provided with a position sensor positioned on the rotating path of the glass turntable, and the bearing sleeve is detected by the position sensor along with the glass turntable in the process of conveying the glass turntable to the station where the detection assembly is positioned.

As a preferable scheme, a fixed rod is arranged above the glass turntable, and the position sensor is two infrared sensors or two photoelectric sensors oppositely arranged on the fixed rod.

As a preferable scheme, a connecting plate extending towards the feeding rail is arranged on the fixing rod, and one end of the connecting plate is provided with an arc-shaped guide plate.

Compared with the prior art, the technical scheme of the utility model has the following advantages:

1. in the CCD camera detection equipment provided by the utility model, according to the first to fifth CCD cameras are arranged at intervals around the glass turntable, when the glass turntable rotates circumferentially, a plurality of bearing sleeves are driven to pass through the stations where the five CCD cameras are positioned in sequence, the height graphic information of the bearing sleeves can be accurately acquired through the first CCD camera, the C-angle image information of the two ends of the bearing sleeves can be accurately acquired through the obliquely arranged second and third CCD cameras which are just aligned with the chamfer positions of the two ends of the bearing sleeves, and the fourth and fifth CCD cameras are respectively and vertically aligned with the bearing sleeves so as to achieve the purpose of acquiring the inner diameter and outer diameter graphic information of the bearing sleeves, thus the graphic acquisition of the shape and the C-angle position of the bearing sleeves is designed, and the graphic information is sent to the intelligent control processor for comparison analysis with qualified images, the technical scheme is used for judging whether the overall dimension, the angle C and the surface quality of the bearing sleeve are qualified, when the image information of the bearing sleeve is judged to be qualified or unqualified, the bearing sleeve which is qualified in detection is conveyed into a qualified material box through a discharging mechanism, and the bearing sleeve which is unqualified in detection is conveyed into an unqualified material box, so that qualified and unqualified products are screened out accurately and efficiently, and the working efficiency is improved.

2. In the CCD camera detection equipment provided by the utility model, the adjusting rod piece consists of the vertical rod, the cross rod and the adjusting slide block, the CCD camera can be arranged on the adjusting slide block in different angle directions, the adjusting slide block can move along the cross rod to adjust the horizontal installation distance of the CCD camera, and the cross rod can move along the vertical rod to adjust the vertical installation distance of the CCD camera, so that the use requirements of the CCD camera on different installation positions can be met.

3. In the CCD camera detection device provided by the utility model, the fixed rod is arranged above the glass turntable, the position sensor is two infrared sensors or two photoelectric sensors which are oppositely arranged on the fixed rod, the infrared sensors or the photoelectric sensors are positioned before the working procedure of the detection assembly, the structure is provided, when the bearing sleeve rotates along with the glass turntable to the working position of the detection assembly, the bearing sleeve passes through the space between the two infrared sensors or the two photoelectric sensors, at the moment, the position information of each bearing sleeve when passing through can be detected by the two infrared sensors or the two photoelectric sensors, and the position information is sent to the intelligent control processor, so that a plurality of CCD cameras on the working position of the detection assembly can sequentially and orderly acquire the image information of a plurality of bearing sleeves.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below.

FIG. 1 is a schematic plan view of a CCD camera detection device according to the present utility model;

fig. 2 is a side view of the CCD image pickup detecting apparatus of the present utility model;

fig. 3 is a perspective view of the CCD image pickup detecting apparatus of the present utility model;

FIG. 4 is a schematic view of a mounting structure of a position sensor according to the present utility model;

FIG. 5 is a schematic view of the bearing housing of the present utility model;

reference numerals illustrate: 1. a glass turntable; 2. a vibration feeding mechanism; 21. a feed rail; 31. a first CCD camera; 32. a second CCD camera; 33. a third CCD camera; 34. a fourth CCD camera; 35. a fifth CCD camera; 4. a discharging mechanism; 41. an adjusting plate; 42. pneumatic spray heads; 5. an adjusting rod piece; 51. a vertical rod; 52. a cross bar; 53. an adjusting slide block; 6. a position sensor; 7. a fixed rod; 8. a connecting plate; 81. an arc-shaped guide plate; 9. and (5) mounting a frame.

Detailed Description

The following description of the embodiments of the present utility model will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the utility model are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

In the description of the present utility model, it should be noted that the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.

Example 1

The present embodiment is specifically described below with reference to the accompanying drawings:

the present embodiment provides a CCD image pickup detecting apparatus as shown in fig. 1 to 5 for detecting an outer dimension and a C angle of a bearing housing, comprising:

the glass turntable 1 is rotatably arranged on the mounting frame 9;

a vibration feeding mechanism 2 which is provided with a feeding rail 21 extending to the glass turntable 1 and sequentially conveys the bearing sleeves to the glass turntable 1 through the feeding rail 21;

the detection assembly comprises a first CCD camera 31, a second CCD camera 32, a third CCD camera 33, a fourth CCD camera 34 and a fifth CCD camera 35 which are arranged around the glass turntable 1 at intervals, wherein the first CCD camera 31 is horizontally arranged and is used for capturing and collecting the height image information of the bearing sleeve, the second CCD camera 32 and the third CCD camera 33 are obliquely arranged and are used for capturing and collecting the C-angle image information of two ends of the bearing sleeve respectively, and the fourth CCD camera 34 and the fifth CCD camera 35 are vertically arranged and are used for capturing and collecting the inner diameter image information and the outer diameter image information of the bearing sleeve respectively;

the discharging mechanism 4 is arranged on the rotating path of the glass turntable 1 and is positioned after the procedure of the detection assembly, and is used for conveying the bearing sleeve which is qualified in detection into the qualified box and conveying the bearing sleeve which is unqualified in detection into the unqualified box under the driving of the intelligent control processor.

According to the core technical scheme of the embodiment, the first CCD camera to the fifth CCD camera are arranged at intervals around the glass turntable 1, the glass turntable 1 drives the bearing sleeves to pass through the stations where the five CCD cameras are located sequentially when rotating circumferentially, the first CCD camera can accurately collect the height pattern information of the bearing sleeves, the second CCD camera and the third CCD camera which are obliquely arranged are just aligned with the chamfer positions of the two ends of the bearing sleeves, the C angle image information of the two ends of the bearing sleeves can be accurately collected, the fourth CCD camera and the fifth CCD camera are respectively and vertically aligned with the bearing sleeves to achieve the purpose of collecting the pattern information of the inner diameter and the outer diameter of the bearing sleeves, so that the pattern information of the outer shape and the C angle position of the bearing sleeves is completely collected, and is sent to the intelligent control processor to be compared with the qualified images for judging whether the outer shape size, the C angle and the surface quality of the bearing sleeves are qualified, and when the image information of the bearing sleeves is judged to be qualified or unqualified, the qualified bearing sleeves can be conveyed into a qualified box through the discharging mechanism 4, and the unqualified bearing sleeves can be conveyed into the unqualified box, and the unqualified products can be accurately screened out, and the qualified products can be screened. According to the technical scheme, the positions of the CCD cameras are reasonably distributed and adjusted, multi-angle image acquisition shooting can be carried out on the product to be detected, detection is more comprehensive and accurate, and accordingly whether the overall dimension and the surface quality of the product reach the standard or not is judged through analysis, automation and intellectualization are achieved in the whole detection screening process, product inspection quality is guaranteed, labor cost is reduced, and the improvement of the working efficiency of product detection screening is facilitated.

The specific arrangement of the detection assembly is described in detail below in conjunction with fig. 1-3:

in this embodiment, the first to fifth CCD cameras are respectively disposed on the mounting frame 9 through a plurality of groups of adjusting rods 5, the adjusting rods 5 include vertical rods 51 vertically fixed on the mounting frame 9, and cross rods 52 movably disposed on the vertical rods 51, and adjusting sliders 53 for mounting any one of the CCD cameras are movably disposed on the cross rods 52. This kind of structure sets up, the CCD camera is installed on adjusting slider 53 with different angular orientations, and this adjusting slider 53 can be along horizontal pole 52 removal be used for adjusting the horizontal installation distance of CCD camera to horizontal pole 52 can be along montant 51 removal be used for adjusting the vertical installation distance of CCD camera, thereby can satisfy the CCD camera to different mounting position user demand.

As a specific structural arrangement, the first CCD camera 31 is mounted on the adjusting rod 5 and parallel to the glass turntable 1, so that the camera is aligned to the side wall of the bearing sleeve, and the first CCD camera 31 can capture the height image information of the bearing sleeve and compare with the qualified image to determine whether the height of the bearing sleeve is qualified; referring to fig. 2-3, the second CCD camera 32 and the third CCD camera 33 are respectively disposed on the upper and lower sides of the glass turntable 1 in an inclined manner, specifically, the second CCD camera 32 is mounted on the adjusting rod 5 in an inclined manner and faces upward toward the glass turntable 1 so that the camera thereof is aligned with the lower end C angle position of the bearing sleeve, and the third CCD camera 33 is mounted on the adjusting rod 5 in an inclined manner and faces downward toward the glass turntable 1 so that the camera position thereof is aligned with the upper end C angle position of the bearing sleeve, and at this time, the second CCD camera 32 and the third CCD camera 33 can respectively capture the C angle image information of both ends of the bearing sleeve, and by comparing with the qualified image, determine whether the C angle size of both ends of the bearing sleeve is qualified; further preferably, the fourth CCD camera 34 is mounted on the adjusting rod 5 and faces vertically downward toward the glass turntable 1, so that the camera is aligned to the inner hole of the bearing sleeve, an illumination aperture opposite to the fourth CCD camera 34 is arranged on the lower side surface of the glass turntable 1, illumination brightness can be improved through the illumination aperture, the fourth CCD camera 34 can shoot the inner hole of the bearing sleeve with better definition, different ambient light rays can be adapted, and the second CCD camera can shoot and collect inner diameter image information of the bearing sleeve and judge whether the inner diameter size of the bearing sleeve is qualified or not through comparison with a qualified image; in addition, the outer diameter image of the bearing sleeve is shot through a fifth pair of bearings, the fifth CCD camera 35 is arranged on the adjusting rod 5 to face the glass turntable 1 vertically downwards, so that the camera of the fifth CCD camera is aligned to the upper round end of the bearing sleeve, the fifth CCD camera can shoot and collect the outer diameter image information of the bearing sleeve, and the outer diameter image information is compared with the qualified image to judge whether the outer diameter size of the bearing sleeve is qualified or not. In summary, when the height, the outer diameter, the inner diameter and the angle C of the bearing sleeve are all qualified through detection, the bearing sleeve is a qualified product, but when one of the bearing sleeves is failed to detect, the bearing sleeve is a failed product.

As a preferred embodiment, a servo motor is disposed at the bottom center of the glass turntable 1, the glass turntable 1 is driven by the servo motor to rotate at a uniform speed, as shown in fig. 1, the discharging mechanism 4 includes an arc frame disposed at the periphery of the glass turntable 1, a plurality of adjusting plates 41 movably disposed at the arc frame and extending above the glass turntable 1, and a plurality of pneumatic spray heads 42 disposed at one end of the plurality of adjusting plates 41 and connected with an air pump, for example, two pneumatic spray heads are preferably disposed, wherein one of the pneumatic spray heads 42 is used for blowing unqualified bearing sleeves into the unqualified box, and the other pneumatic spray head 42 is used for blowing qualified bearing sleeves into the qualified box, and the qualified box and the unqualified box are disposed below the outer side of the glass turntable.

As shown in fig. 3-4, the fixing rod 7 is provided with a connecting plate 8 extending towards the feeding rail 21, one end of the connecting plate 8 is provided with an arc-shaped guide plate 81, the feeding rail 21 sequentially conveys the bearing sleeves onto the glass turntable 1, the glass turntable 1 drives a plurality of bearing sleeves to rotate and transfer to the position where the arc-shaped guide plate 81 is located, the placing positions of the bearing sleeves on the turntable are adjusted through the matched contact of the arc-shaped guide plate 81 and the bearing sleeves, so that the glass turntable drives the bearing sleeves to accurately rotate to the detection range of a plurality of CCD cameras, the accuracy and the reliability of product detection are ensured, and the condition of missing detection is avoided.

As shown in fig. 3-4, the mounting frame 9 is provided with a position sensor 6 located on the rotation path of the glass turntable 1, the bearing sleeve is detected by the position sensor 6 along with the conveying process of the glass turntable 1 to the station where the detection component is located, specifically, a fixing rod 7 is arranged above the glass turntable 1, and the position sensor 6 is two infrared sensors or two photoelectric sensors relatively arranged on the fixing rod 7. This kind of structure sets up, and the bearing housing can pass through the space between two infrared sensor or two photoelectric sensor when rotating to the station that detects the subassembly place along with glass revolving stage 1, and at this moment, can detect the positional information when every bearing housing passes through two infrared sensor or two photoelectric sensor to send this positional information to intelligent control treater, guarantee that many CCD cameras on the station that detects the subassembly place can carry out image information acquisition to a plurality of bearing housings in proper order.

In this embodiment, the intelligent control processor (not shown in the drawing) has a display screen capable of displaying image information acquired by a plurality of CCD cameras, people directly observe the image information of the detected plastic part through the display screen, so as to realize man-machine interaction, control and management are more convenient, and the intelligent control processor has functions of processing data information and image information, and uses the intelligent control processor as a core to intensively control other mechanisms such as a detection assembly and the like through a protocol or a circuit.

It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. While still being apparent from variations or modifications that may be made by those skilled in the art are within the scope of the utility model.

Claims

1. A CCD image pickup detecting apparatus comprising:

the glass turntable (1) is rotatably arranged on the mounting frame (9);

the vibration feeding mechanism (2) is provided with a feeding rail (21) extending to the glass turntable (1), and sequentially conveys the bearing sleeves onto the glass turntable (1) through the feeding rail (21); characterized by further comprising:

the detection assembly comprises a first CCD camera (31), a second CCD camera (32), a third CCD camera (33), a fourth CCD camera (34) and a fifth CCD camera (35) which are arranged around the glass turntable (1) at intervals, wherein the first CCD camera (31) is horizontally arranged and is used for capturing and collecting the height image information of the bearing sleeve, the second CCD camera (32) and the third CCD camera (33) are obliquely arranged and are used for capturing and collecting the C-angle image information of two ends of the bearing sleeve respectively, and the fourth CCD camera (34) and the fifth CCD camera (35) are vertically arranged and are used for capturing and collecting the inner diameter image information and the outer diameter image information of the bearing sleeve respectively;

the discharging mechanism (4) is arranged on the rotating path of the glass turntable (1) and is positioned after the working procedure of the detection assembly, and is used for conveying the bearing sleeve which is qualified in detection into the qualified box and conveying the bearing sleeve which is unqualified in detection into the unqualified box under the driving of the intelligent control processor.

2. The CCD image pickup detecting apparatus according to claim 1, wherein: the first CCD camera to the fifth CCD camera are respectively arranged on the mounting frame (9) through a plurality of groups of adjusting rod pieces (5), the adjusting rod pieces (5) comprise vertical rods (51) vertically fixed on the mounting frame (9), and cross rods (52) movably arranged on the vertical rods (51), and adjusting sliding blocks (53) for installing any CCD camera are movably arranged on the cross rods (52).

3. The CCD image pickup detecting apparatus according to claim 2, wherein: the first CCD camera (31) is arranged on the adjusting rod piece (5) and is parallel to the glass turntable (1) so that a camera of the first CCD camera is aligned with the side wall position of the bearing sleeve.

4. A CCD image pickup detecting apparatus according to claim 3, wherein: the second CCD camera (32) is arranged on the adjusting rod piece (5) and faces the glass turntable (1) obliquely upwards, so that a camera of the second CCD camera is aligned to the lower end C angle position of the bearing sleeve; the third CCD camera (33) is arranged on the adjusting rod piece (5) and obliquely faces downwards to the glass turntable (1), so that the camera position of the third CCD camera is aligned with the upper end C angle position of the bearing sleeve.

5. The CCD image pickup detecting apparatus according to claim 4, wherein: the fourth CCD camera (34) is arranged on the adjusting rod piece (5) and faces the glass turntable (1) vertically downwards, so that a camera of the fourth CCD camera is aligned with the inner hole position of the bearing sleeve; the fifth CCD camera (35) is arranged on the adjusting rod piece (5) and faces the glass turntable (1) vertically downwards, so that a camera of the fifth CCD camera is aligned with the upper round end of the bearing sleeve.

6. The CCD image pickup detection apparatus according to any one of claims 1 to 5, wherein: the discharging mechanism (4) comprises an arc-shaped frame arranged on the periphery of the glass turntable (1), a plurality of adjusting plates (41) which are movably arranged on the arc-shaped frame and extend to the upper side of the glass turntable (1), and a plurality of pneumatic spray heads (42) arranged on one end of each of the adjusting plates (41), wherein the pneumatic spray heads (42) correspondingly blow bearing sleeves into qualified boxes or unqualified boxes through jetting out high-pressure gas.

7. The CCD image pickup detecting apparatus according to claim 1, wherein: the mounting frame (9) is provided with a position sensor (6) positioned on the rotating path of the glass turntable (1), and the bearing sleeve is detected by the position sensor (6) along with the conveying process of the glass turntable (1) to the station where the detection assembly is located.

8. The CCD image pickup detecting apparatus according to claim 7, wherein: a fixing rod (7) is arranged above the glass turntable (1), and the position sensor (6) is two infrared sensors or two photoelectric sensors which are oppositely arranged on the fixing rod (7).

9. The CCD image pickup detecting apparatus according to claim 8, wherein: the connecting plate (8) extending towards the feeding rail (21) is arranged on the fixing rod (7), and an arc-shaped guide plate (81) is arranged at one end of the connecting plate (8).