JP4940107B2 - Laser overlay system - Google Patents

Description

  The present invention relates to a laser build-up system in which cylinder heads are aligned and then the cylinder heads are conveyed to build up a valve seat.

  When the internal combustion engine is operated, in the cylinder head constituting the internal combustion engine, the intake valve and the exhaust valve are repeatedly seated and separated from the valve seat. For this reason, in order to ensure the wear resistance of the valve seat, for example, a sintered ring is press-fitted.

  Alternatively, the valve seat may be built up by so-called laser build-up. In this case, the cylinder head is positioned and fixed on the mounting table, and the metal powder is melted by irradiating the metal powder with a laser while supplying the metal powder to the valve seat while rotating the mounting table. Further, it is cooled and solidified to form a built-up portion.

  When performing such laser overlaying, for example, as described in Patent Document 1, first, the cylinder head is fixed to the mounting table, and then the valve sheet is irradiated with the laser on the mounting table. It is common to fix so that it may become a position.

Japanese Patent No. 2929785

  As can be understood from the description in Patent Document 1 and the drawings, if the cylinder head is positioned and fixed via the mounting table, a large number of shaft members are required and the configuration becomes complicated.

  And when irradiating a laser with respect to metal powder, the temperature of the location where a laser in a cylinder head is irradiated increases rapidly. For this reason, the position of the cylinder head may fluctuate as a result of heat being transmitted to the shaft member or the like and causing thermal expansion of the shaft member or the like. When such a situation occurs, the position where the metal powder is supplied and the position where the laser is irradiated also change. After all, in this case, there is a problem that it is not easy to perform highly accurate positioning.

  The present invention has been made to solve the above-described problems, and can position the cylinder head with high accuracy. For this purpose, a laser capable of accurately and satisfactorily depositing the valve seat. The purpose is to provide a meat filling system.

In order to achieve the above-mentioned object, the present invention uses, as a raw material, an alignment mechanism that aligns a valve seat that is subjected to a build-up process in a cylinder head at a predetermined position, and metal powder supplied to the valve seat. A laser build-up system comprising a laser build-up mechanism for building up, and a conveying means for carrying the cylinder head from the alignment mechanism to the laser build-up mechanism,
The alignment mechanism includes a mounting member on which the cylinder head is mounted, and a guide unit that guides the valve seat to the predetermined position by guiding the mounting member.
The transport means includes gripping means for gripping the mounting member and rotating the mounting member toward the laser build-up mechanism,
The laser build-up mechanism has a supply mechanism for supplying metal powder, a displaceable laser irradiation means for irradiating the metal powder with laser light, and a rotary base for positioning and fixing the mounting member. And
The conveying means moves the mounting member on which the valve seat is placed at the predetermined position on the rotating pedestal by rotating the gripping means that grips the mounting member. Transport to
The laser build-up mechanism performs a build-up process using laser light while supplying metal powder to the valve seat that is substantially horizontal.

  That is, in the present invention, after the valve seat in the cylinder head is adjusted to a predetermined position under the action of the alignment mechanism, the cylinder head is set so that the valve seat is substantially horizontal under the action of the transport mechanism. Is conveyed to the laser build-up mechanism. Thus, by aligning the cylinder head at a location different from the laser build-up mechanism, the laser build-up mechanism need not be provided with a mechanism for making the valve seat substantially horizontal. Therefore, the apparatus configuration can be simplified.

  In addition, in this case, since the rotation center of the valve seat and the rotation center of the rotary table can be matched with high accuracy, even if thermal deformation occurs in the valve seat due to laser light irradiation, The supply position of the powder and the irradiation position of the laser beam can be maintained with high accuracy. Thereby, a laser build-up process can be reliably performed to the predetermined location of a valve seat.

  In addition, it is preferable to provide the clamp mechanism for positioning and fixing a mounting member in a rotation base. Accordingly, it is possible to reliably avoid the displacement of the cylinder head when the laser build-up process is performed, and as a result, the laser build-up process for the valve seat can be performed with higher accuracy.

  Further, a first positioning and fixing means for positioning and fixing the gripping means when the gripping means grips the mounting member on the guide means, and the gripping means when the mounting means places the mounting member on the rotary base. It is preferable to provide second positioning and fixing means for positioning and fixing the means. As the gripping means is positioned in this manner, the mounting member, and thus the cylinder head on the mounting member, can be positioned and fixed at a predetermined location. Therefore, the accuracy of the laser overlay process for the valve seat is further improved.

  According to the present invention, after adjusting the valve seat in the cylinder head to a predetermined position, the cylinder head is transported to the laser build-up mechanism so that the valve seat is substantially horizontal under the action of the transport mechanism. I have to. That is, since the valve seat is aligned at a location different from the laser build-up mechanism, the apparatus configuration of the laser build-up mechanism can be simplified.

  Further, since the valve seat is aligned at a position different from the laser build-up mechanism, a shaft member or the like constituting the guiding means in the valve seat alignment mechanism (for example, a ball screw or screwed to the ball screw) Nut and the like that do not thermally expand due to laser irradiation. Therefore, even if thermal deformation occurs in the valve seat due to laser light irradiation, the rotation center and rotation of the valve seat are compared with those in which the valve seat alignment mechanism and the laser build-up mechanism are configured as the same device. It is possible to match the rotation center of the table with high accuracy. For this reason, since the supply position of the metal powder to the valve seat and the irradiation position of the laser beam can be maintained with high accuracy, the laser build-up processing for the valve seat can be performed with high accuracy.

  DESCRIPTION OF EMBODIMENTS Hereinafter, preferred embodiments of a laser overlay system according to the present invention will be given and described in detail with reference to the accompanying drawings.

  FIG. 1 is an overall schematic front view of a laser overlay system 10 according to the present embodiment, and FIG. 2 is a plan view of an essential part thereof. This laser build-up system 10 is a laser build-up that performs a build-up process using a metal powder supplied to a valve seat 16 of the cylinder head 12 as a raw material, and an alignment mechanism 14 for aligning the cylinder head 12. A mechanism 18 and a 6-axis multi-joint gripping robot (hereinafter simply referred to as a gripping robot) 20 as transport means for transporting the cylinder head 12 from the alignment mechanism 14 to the laser build-up mechanism 18 are provided.

  The alignment mechanism 14 includes a base 22, an orthogonal biaxial table 24 (guide means) provided on the base 22, and a CCD camera 26 that images the position of the cylinder head 12.

  Columnar members 28 and 30 are erected on both ends of the base 22, and locking holes 32 and 34 are formed on the upper end surfaces of the columnar members 28 and 30. In addition, a base 38 on which two rails 36 and 36 are laid is provided between the columnar members 28 and 30.

  As shown in FIG. 2, the orthogonal biaxial table 24 extends in a direction orthogonal to the extending direction of the first table 40 and the first table 40 extending in a direction approaching or separating from the gripping robot 20. And a second table 42 which is longer than the first table 40. In addition, illustration of the base 22 is abbreviate | omitted in FIG.

  The first table 40 is movably mounted on rails 36 on the base 38. On the other hand, two rails 44, 44 are also laid along the extending direction of the first table 40, and the second table 42 is placed on these rails 44, 44 so as to be displaceable. That is, the first table 40 can be displaced in a direction approaching or separating from the gripping robot 20 (the X direction in FIGS. 1 and 2), while the second table 42 is in relation to the first table 40. It can be moved forward or backward in a direction perpendicular to the direction (Y direction in FIG. 2).

  As shown in FIG. 1, a heater 48 is provided on the upper end surface of the second table 42 via a heat insulating plate 46. Further, two substantially inverted L-shaped clamp claws 50, 50 constituting the first clamp mechanism protrude symmetrically from the upper end surface of the second table 42. Of course, the clamp claws 50 and 50 are provided at positions different from the heater 48.

  In FIG. 1, a state in which the movable table 52 (mounting member) is placed on the second table 42 via the clamp claws 50 and 50 is shown. Here, a substantially inverted T-shaped engaging portion 54 is formed on the bottom surface of the movable table 52, and the clamp claws 50, 50 are engaged with the engaging portion 54.

  An inclination jig 58 having an inclined surface 56 inclined at a predetermined angle is fixed to the upper end surface of the movable table 52. The inclined surface 56 supports a support fixing plate 62 on which two pins 60 and 60 are erected.

  From the upper end surface of the support fixing plate 62, substantially inverted L-shaped first inverted L-shaped claws 64a to fourth inverted L-shaped claws 64d constituting the second clamp mechanism protrude (see FIG. 2). Among these, the first reverse L-type claw 64a faces the second reverse L-type claw 64b, and the third reverse L-type claw 64c is the fourth reverse L-type at a position spaced apart from the first reverse L-type claw 64a. It faces the mold claw 64d. Each of the pins 60, 60 is provided in the vicinity of the second reverse L-type claw 64b and the fourth reverse L-type claw 64d.

  The CCD camera 26 that constitutes the alignment mechanism 14 is positioned and fixed via a frame 68 to a guide column 66 that is erected in the vicinity of the gripping robot 20. A monitor (not shown) is electrically connected to the CCD camera 26.

  The laser build-up mechanism 18 has a support device 70 for supporting the cylinder head 12. The support device 70 includes a first base 72, a slightly narrow second base 74 fixed on the first base 72, and substantially inverted L-shaped clamp claws 76, 76 constituting a third clamp mechanism. And a rotary table 78 (rotary pedestal) provided.

  In the first base 72, a locking jig 84 having an inclined surface 80 inclined at a predetermined angle is disposed at a portion exposed from the second base 74. On the other hand, on the second base 74, a locking column 86 having a portion inclined so as to be substantially parallel to the inclined surface 80 is erected. Both the locking jig 84 and the locking column 86 are provided with locking holes 88 and 90 extending substantially parallel to each other. Each locking hole 88, 90 is set to a width direction size and depth corresponding to the width direction size and depth of the locking holes 32, 34.

  A jack device 94 is further provided on the second base 74 via a support plate 92. The jack device 94 is for adjusting the inclination angle of the third base 95. That is, the third base 95 and the support plate 92 are connected via the shaft 96 and the hinge 98 of the jack device 94, and the third base 95 rotates around the hinge 98 according to the vertical movement of the shaft 96. Move. As a result, it is possible to adjust what is subjected to the build-up process in the valve seat 16 to a substantially horizontal position.

  Although not shown in the figure, below the second base 74 is a table that allows the second base 74 to be moved in the X direction so that the laser beam axis and the processing point of the valve seat 16 coincide with each other. Provided.

  A rotary shaft 100 is rotatably supported on the third base 95, and the rotary table 78 is attached to the rotary shaft 100. That is, the rotary table 78 can rotate integrally with the rotary shaft 100.

  As described above, the clamp claws 76 and 76 protrude from the rotary table 78. These clamp claws 76, 76 are configured in the same manner as the clamp claws 50, 50 constituting the first clamp mechanism.

  The laser build-up mechanism 18 further irradiates a feeder 102 for supplying metal powder to the valve seat 16, a gas nozzle (not shown) for supplying an inert gas, and a laser beam for melting the metal powder. And a laser irradiator 104. Among them, the laser irradiator 104 is installed so as to be horizontally movable in the extending direction (X direction) of the frame 106. The frame 106 can be moved up and down and horizontally displaced by an orthogonal two-axis table 110 having a guide table 108 laid along the axial direction of the guide column 66.

  That is, the laser irradiator 104 can be displaced in three orthogonal axes. By appropriately displacing the laser irradiator 104, the axis of the laser beam can be made coincident with the processing point of the valve seat 16.

  As described above, since there is a table that can move the second base 74 in the X direction, the function of horizontally moving the laser irradiator 104 in the extending direction (X direction) of the frame 106 is omitted. May be. Of course, it is possible to incorporate the function of allowing the laser irradiator 104 to move horizontally in the extending direction (X direction) of the frame 106 while omitting the table.

  The gripping robot 20, which is a transport means, is disposed between the base 22 that forms the alignment mechanism 14 and the support device 70 that forms the laser build-up mechanism 18. The main spindle 112 of the gripping robot 20 can be rotated, and the tip shaft 114 is rotated accordingly.

  A gripping device 116 is provided on the distal end shaft 114. The gripping device 116 includes an outer frame 118, a fixed claw 120 that is positioned and fixed inside the outer frame 118, and a movable claw 122 that approaches or moves away from the fixed claw 120. As will be described later, the end of the movable table 52 is gripped by the fixed claw 120 and the movable claw 122.

  At the distal end of the outer frame 118, the locking holes 32 and 34 formed in the column member, or both the locking holes 88 and 90 formed in the inclined jig 58 and the locking column 86, respectively. Locking pins 124 and 126 set in a shape that can be engaged are provided. That is, the locking pins 124 and 126 are engaged with either the locking holes 32 and 34 or the locking holes 88 and 90.

  The laser build-up system 10 according to the present embodiment is basically configured as described above. Next, the function and effect will be described.

  When the cylinder head 12 is placed on the support fixing plate 62 on the moving table 52, the pins 60 and 60 are inserted into two concave portions formed in advance on one bottom surface of the cylinder head 12. Further, the first reverse L-type claw 64 a to the fourth reverse L-type claw 64 d constituting the second clamp mechanism are closed, and each of the first reverse L-type claw 64 a to the fourth reverse L-type claw 64 d of the cylinder head 12. It enters a recess provided in each end face. Thereby, the cylinder head 12 is positioned and fixed to the support fixing plate 62 in a state where the cylinder head 12 is inclined at a predetermined angle.

  The movable table 52 on which the cylinder head 12 is placed is transferred together with the cylinder head 12 in this state, and is then held by the holding device 116 of the holding robot 20. Of course, at this time, the movable claw 122 rises toward the fixed claw 120, and as a result, the movable table 52 is sandwiched between the movable claw 122 and the fixed claw 120.

  The gripping robot 20 conveys the moving table 52 to the second table 42. Under the action of the gripping robot 20, the gripping device 116 descends toward the columnar members 28 and 30 of the alignment mechanism 14, and finally the locking pins 124 and 126 provided at the lower end of the outer frame 118. Engages with the locking holes 32, 34. That is, the gripping device 116 is positioned and fixed.

  Note that the heater 48 is energized in advance, and therefore the moving table 52 receives radiant heat. Eventually, heat is transferred to the cylinder head 12 via the moving table 52.

  Next, the clamp claws 50 and 50 constituting the first clamp mechanism provided on the second table 42 are displaced so as to approach each other. That is, the clamp claws 50, 50 are closed and enter the inverted T-shaped engaging portion 54 formed on the bottom surface of the moving table 52, whereby the moving table 52 is positioned and fixed.

  Next, the gripping device 116 releases the moving table 52. Specifically, when the movable claw 122 is lowered and separated from the fixed claw 120, the holding with respect to the moving base 52 is eliminated.

  Next, as shown in FIG. 3, after the gripping device 116 moves under the action of the gripping robot 20, the first table 40 is displaced along the X direction while being guided by rails 36, 36 laid on the base 38. On the other hand, the second table 42 is displaced along the Y direction in FIG. 2 while being guided by the rails 44, 44 laid on the first table 40. The displacement (position adjustment) of the first table 40 and the second table 42 continues until the valve seat 16 to be subjected to the build-up process is located at the center of the intersection (the point O in FIG. 2) of the first table 40 and the second table 42. Is done. The position of the valve seat 16 is confirmed by the CCD camera 26 and a monitor.

  When the monitor confirms that the valve seat 16 to be overlaid is positioned at the point O, the gripping device 116 returns, and the locking pins 124 and 126 of the outer frame 118 are locked to the locking holes 32 of the columnar members 28 and 30. , 34 is engaged. That is, the gripping device 116 is positioned and fixed, and the state shown in FIG. 1 is obtained.

  After both the movable table 52 and the gripping device 116 are positioned and fixed in this way, the gripping device 116 grips the movable table 52. That is, the movable claw 122 moves upward toward the fixed claw 120, and as a result, the moving base 52 is sandwiched between the movable claw 122 and the fixed claw 120.

  Next, the gripping robot 20 raises the gripping device 116 and then rotates the main spindle 112. With this rotation operation, the gripping device 116 rotates to the support device 70. During this time, the tip shaft 114 also rotates and tilts so that the locking pins 124 and 126 at the lower end of the outer frame 118 are opposed to the locking holes 90 and 88 of the locking jig 84 and the locking column 86. At this time, the valve seat 16 located at the point O in FIG. 2 is arranged to be substantially horizontal. At this point, the clamp claws 76 and 76 constituting the third clamp mechanism are open.

  Thereafter, under the action of the gripping robot 20, the locking pins 124 and 126 are engaged with the locking holes 90 and 88, respectively. Thereby, the gripping device 116 is positioned and fixed to the support device 70.

  Next, the clamp claws 76, 76 are closed and enter the inverted T-shaped engaging portion 54 formed on the bottom surface of the moving table 52, whereby the moving table 52 is positioned and fixed. After that, as shown in FIG. 4, the movable claw 122 is lowered and separated from the fixed claw 120, so that the holding with respect to the moving base 52 is eliminated, and the gripping device 116 is moved under the action of the gripping robot 20 to move the cylinder. Head 12 appears. That is, the valve seat 16 located at the point O in FIG. 2 is exposed in a substantially horizontal state.

  During the above operation, the cylinder head 12 is not displaced on the support fixing plate 62. This is because the cylinder head 12 is positioned and fixed on the support fixing plate 62 as described above.

  That is, according to the present embodiment, the position of the valve seat 16 to be subjected to the build-up process is confirmed by the alignment mechanism 14, and then the cylinder head 12 is rotated by the gripping robot 20, whereby the valve seat 16 is supported by the support device 70 so as to be substantially horizontal. In other words, in the present embodiment, the valve seat 16 is positioned by the alignment mechanism 14, and the cylinder head 12 is conveyed while maintaining its posture so that the valve seat 16 is subjected to the build-up process.

  For this reason, it is not necessary to provide both the alignment mechanism 14 and the support device 70 by providing a large number of shaft members. Therefore, the configuration of the laser overlay system 10 can be simplified.

  Next, as shown in FIG. 5, the laser irradiator 104 descends toward the valve seat 16 and moves horizontally. When the laser irradiator 104 stops at a predetermined position, the rotary shaft 100 that supports the support fixing plate 62 starts to rotate under the action of a rotation urging means (for example, a motor), whereby the rotary table 78 rotates. . At substantially the same time, the metal powder PW is supplied from the feeder 102, an inert gas is supplied from the gas nozzle (not shown), and the laser light L is emitted from the laser irradiator 104. The metal powder PW is exemplified by copper alloy powder, and the inert gas is exemplified by argon gas.

  Since the rotary table 78 is rotating, the feeder 102 and the laser irradiator 104 move relative to each other in an annular manner along the periphery of the valve seat 16. Eventually, the molten pool of the metal powder PW moves annularly along the peripheral edge of the valve seat 16, and the rotating shaft 100 rotates at least once, so that a built-up portion is formed around the valve seat 16.

  Here, as understood from the above, in the present embodiment, the valve seat 16 to be subjected to the build-up process is oriented substantially horizontally after being accurately aligned. For this reason, the center of the valve seat 16 is accurately disposed on the axis of the rotation center of the rotation shaft 100. In other words, the valve seat 16 is positioned with high accuracy corresponding to the irradiation position of the laser light L from the laser irradiator 104. For this reason, even if the cylinder head 12 is thermally deformed due to a local temperature increase due to the irradiation of the laser beam L, the valve seat 16 is accurately and reliably positioned with respect to the build-up processing position. Can do.

  Moreover, in the present embodiment, the temperature of the cylinder head 12 is raised in advance by the heater 48. For this reason, the temperature rise width of the cylinder head 12 irradiated with the laser beam L is relatively small, and therefore, thermal deformation of the cylinder head 12 is sufficiently suppressed.

  For the above reasons, it is possible to obtain an effect that the build-up process for the valve seat 16 is performed with high accuracy and goodness, and the efficient build-up process is performed.

  After the build-up process of the valve seat 16 is completed, the rotation of the rotary shaft 100 and consequently the rotary table 78 is stopped. At substantially the same time, the supply of the metal powder PW and the inert gas is stopped, and the irradiation of the laser beam L is stopped.

  Next, the gripping device 116 of the gripping robot 20 grips the moving table 52 again. Of course, at this time, the locking pins 124 and 126 of the outer frame 118 are engaged with the locking holes 90 and 88. Thereafter, the clamp claws 76 of the third clamp mechanism release the moving base 52.

  After the main shaft 112 of the gripping robot 20 rotates and the gripping device 116 reaches above the columnar members 28, 30, the gripping device 116 is displaced toward the columnar members 28, 30. , 34 are engaged with the locking pins 124, 126. When the clamp claws 50, 50 of the first clamp mechanism are closed and engaged with the engaging portion 54 of the moving base 52, the gripping device 116 releases the moving base 52 and further moves to a predetermined location.

  For the exposed cylinder head 12, in the same manner as described above, the first position is such that the position of the valve seat 16 to be subjected to the next build-up process is the intersection center O of the first table 40 and the second table 42. The positions of the table 40 and the second table 42 are adjusted (see FIG. 6).

  Thereafter, the cylinder head 12 is transferred to the support device 70 under the action of the gripping robot 20 in the same manner as described above, and the valve seat 16 is subjected to a build-up process.

  Two gripping robots 20 may be installed. In this case, the position of another cylinder head 12 is adjusted during the build-up process for one cylinder head 12, and the cylinder head 12 subjected to the build-up process is moved by one gripping robot 20. At the same time as returning to the second table 42, the cylinder head 12 whose position has been adjusted may be conveyed to the support device 70 by the remaining gripping robot 20.

  Alternatively, one gripping robot (not shown) having two arms and provided with the gripping devices 116 and 116 having the above-described configuration at the tip of each arm may be used. In other words, in this case, when the gripping devices 116 and 116 are directed in directions opposite to each other and the arm pivots around the main shaft portion 112, the positions of the arms are switched. Accordingly, the cylinder head 12 that has been subjected to the build-up process is returned to the second table 42 by one arm, and at the same time, the cylinder head 12 whose position has been adjusted can be transported to the support device 70 by the remaining arm. Become.

  By using two gripping robots or using a gripping robot having two arms, the cylinder head 12 can be efficiently transported, and eventually the efficiency of the overlaying process on the cylinder head 12 can be improved. it can.

1 is an overall schematic front view of a laser overlay system according to the present embodiment. It is a principal part top view of the alignment mechanism which comprises the laser build-up system of FIG. It is a whole schematic front view which shows the state which has adjusted the position of the cylinder head (valve seat) with the alignment mechanism. It is a whole schematic front view which shows the state which the holding robot which comprises the laser build-up system of FIG. 1 conveyed the cylinder head to the support apparatus with the moving stand. It is a whole schematic front view which shows the state which has performed the build-up process with respect to the valve seat of the cylinder head supported by the support apparatus. It is a principal part top view which shows the state which is aligning with respect to another valve seat.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 ... Laser build-up system 12 ... Cylinder head 14 ... Positioning mechanism 16 ... Valve seat 18 ... Laser build-up mechanism 20 ... Gripping robot 24, 110 ... Orthogonal biaxial table 26 ... CCD camera 32, 34, 88, 90 ... Stop holes 36, 44 ... Rails 40, 42 ... Table 48 ... Heaters 50, 64a to 64d, 76 ... Claws 52 ... Moving platform 54 ... Engaging portion 58 ... Inclining jig 60 ... Pin 66 ... Guide post 70 ... Supporting device 78 ... Rotary table 94 ... Jacking device 100 ... Rotating shaft 102 ... Feeder 104 ... Laser irradiator 116 ... Gripping device 120 ... Fixed claw 122 ... Moving claw 124, 126 ... Locking pin

Claims (3)

An alignment mechanism for aligning a valve seat in the cylinder head to which a build-up process is performed at a predetermined position; a laser build-up mechanism that builds up metal powder supplied to the valve seat as a raw material; and the cylinder head A laser build-up system having transport means for transporting from the alignment mechanism to the laser build-up mechanism,
The alignment mechanism includes a mounting member on which the cylinder head is mounted, and a guide unit that guides the valve seat to the predetermined position by guiding the mounting member.
The transport means includes gripping means for gripping the mounting member and rotating the mounting member toward the laser build-up mechanism,
The laser build-up mechanism has a supply mechanism for supplying metal powder, a displaceable laser irradiation means for irradiating the metal powder with laser light, and a rotary base for positioning and fixing the mounting member. And
The conveying means moves the mounting member on which the valve seat is placed at the predetermined position on the rotating base by rotating the gripping means that grips the mounting member. Transport to
The laser build-up system, wherein the laser build-up mechanism performs a build-up process using laser light while supplying metal powder to the valve seat that is substantially horizontal.   2. The laser overlay system according to claim 1, wherein a clamp mechanism for positioning and fixing the mounting member is provided on the rotary base.   3. The system according to claim 1, wherein a first positioning fixing means for positioning and fixing the gripping means when the gripping means grips the mounting member on the guide means, and the gripping means is the rotation. And a second positioning and fixing means for positioning and fixing the gripping means when the mounting member is placed on the pedestal.

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