CN112415021A

CN112415021A - Six-axis linkage visual detector based on inclined guide rail

Info

Publication number: CN112415021A
Application number: CN202011373333.0A
Authority: CN
Inventors: 唐晓腾; 吴宁钰; 肖宏宇; 朱益斌; 郑祥盘; 王兆权; 成楚楚; 郭益深; 董春兰; 叶红英
Original assignee: Minjiang University
Current assignee: Minjiang University
Priority date: 2020-11-30
Filing date: 2020-11-30
Publication date: 2021-02-26

Abstract

The invention discloses a six-axis linkage visual detector based on an inclined guide rail, which comprises a bottom plate placed on the ground, three groups of guide rails which are connected end to end and are obliquely arranged are supported and arranged on the upper side end surface of the bottom plate through a supporting frame, a sliding groove with an outward opening is arranged in the guide rail, a driving motor is fixedly arranged on the inner wall of the front side of the sliding groove, the rear end of the driving motor is in power connection with a rotating lead screw which can rotate in the sliding groove, a guide sliding shaft is fixedly connected between the lower side of the rotating lead screw and the inner walls of the front side and the rear side of the guide rail sliding block, the visual inspection device is characterized in that a guide rail sliding block is slidably arranged in the sliding groove, the guide rail sliding block is in threaded connection with the rotating lead screw and is in sliding connection with the guide sliding shaft, and the visual inspection device is based on six-axis linkage and can completely scan the surface of a workpiece according to a preset route to replace manual work to complete scanning record on the surface of the workpiece.

Description

Six-axis linkage visual detector based on inclined guide rail

Technical Field

The invention relates to the technical field of six-axis linkage visual detectors, in particular to a six-axis linkage visual detector based on an inclined guide rail.

Background

With the continuous development of the industrial development, nowadays, the types of parts required to be used by higher and higher-end mechanical devices are more and more, such as ship blades; the parts such as worm wheel blades of the jet engine are mostly processed in a mode of assembling after block division processing due to the laggard traditional processing technology, but the processing mode also causes the defects of low strength, short service life and the like of the parts, and along with the development of the 3D printing technology and the multi-axis linkage processing machine tool technology, the whole batch processing of the parts with irregular shapes can be basically realized at present;

however, before batch processing, the shape data of a prototype needs to be recorded and imported into a machine for programming control, so that a worker needs to scan and record the surface of a workpiece under a preset scanning route by using a visual detector to form a complete three-dimensional drawing of the part, and then the programming is performed by using the complete three-dimensional drawing.

Disclosure of Invention

In order to solve the problems, the embodiment designs a six-axis linkage visual detector based on an inclined guide rail, which comprises a bottom plate placed on the ground, wherein three groups of guide rails which are connected end to end and obliquely placed are supported and placed on the upper side end surface of the bottom plate through a supporting frame, a sliding groove with an outward opening is formed in the guide rail, a driving motor is fixedly arranged on the front inner wall of the sliding groove, the rear end of the driving motor is in power connection with a rotating lead screw capable of rotating in the sliding groove, a guide sliding shaft is fixedly connected between the front inner wall and the rear inner wall of the guide sliding block and on the lower side of the rotating lead screw, a guide sliding block is slidably arranged in the sliding groove, and the guide sliding block is in threaded connection with the rotating lead screw and in sliding connection with the guide;

a first hinged support is fixedly connected to the upper side end face of the guide rail sliding block, a rotating winch is rotatably arranged in the first hinged support, an upper mechanical swing rod is fixedly connected to the upper end of the rotating winch, a second hinged support is fixedly connected to the upper end of the upper mechanical swing rod, a third hinged support is rotatably arranged in the second hinged support, a lower mechanical swing rod is fixedly arranged on the third hinged support, a cylindrical fine adjustment rotating rod is rotatably arranged at the lower end of the lower mechanical swing rod, the fine adjustment rotating rod is driven by a linkage motor fixedly arranged in the lower mechanical swing rod, and a rotating sheet is fixedly connected to the lower end of the fine adjustment rotating rod;

the three groups be provided with the visual detection appearance base between the guide rail, the fixed three groups of rotation bed frames that are provided with on all sides arc terminal surface of visual detection appearance base, three groups on the guide rail the rotor is rotatable connect in respectively in rotating the bed frame, be provided with the visual detection device that can carry out the scanning record to work piece surface shape in the visual detection appearance base, visual detection device is uploading to the PC end and establishing work piece three-dimensional figure through the PC end on scanning the back with work piece surface shape information, through three groups the guide rail go up mechanical pendulum rod and the drive of lower mechanical pendulum rod can make the visual detection appearance base takes place to rotate on six degrees of freedom, with this assistance visual detection device removes the scanning to the work piece surface.

Preferably, the visual detection device comprises a focusing driving cavity which is arranged in the visual detector base and has a downward opening, a turntable is rotatably arranged in the focusing driving cavity, a through hole penetrates through the turntable up and down, and three groups of swinging grooves which penetrate through the turntable up and down are arranged in the turntable around the through hole in an annular array;

the upside inner wall internal fixation of drive chamber of focusing is provided with focuses-scanning motor, the lower extreme power connection of focusing-scanning motor has the rotation cylinder, the lower extreme fixedly connected with of rotation cylinder can in one-way pivoted cylinder piece in the through-hole, the cylinder piece is realized through turning to the limiter in one-way pivot in the through-hole, it is provided with annular guide rail to surround on the through-hole, slidable cover is equipped with the lift cover piece on the rotation cylinder, rotatable being provided with on the inside wall of lift cover piece can be in the gliding guide of annular guide rail cuniform piece, in addition, on the upside terminal surface of carousel, for the fixed block of swing groove position department fixed, sliding connection between the upper end of fixed block and the upside inner wall of drive chamber of focusing, be provided with the opening in the fixed block towards the spout of rotation cylinder, a sliding block is slidably arranged in the sliding groove, the sliding block is connected with the lifting sleeve block through a first connecting rod, the first connecting rod is rotatably connected with the sliding block and the lifting sleeve block, and a second connecting rod is rotatably connected to the sliding block;

the swing groove is located and is close to the rotatable pendulum rod that sets up on the inner wall of cylinder piece one side, the pendulum rod is kept away from one of cylinder piece is served fixedly connected with bearing block, the upper end of bearing block with the lower extreme of second connecting rod rotates and is connected, fixedly on the downside terminal surface of bearing block be provided with the scanner, the scanner accessible is when passing through the route, judges and calculates the shape of work piece to the shape distance size of work piece surface to gather it to the PC end.

Preferably, turn to the limiter including the outside setting up in of opening in the breach in the cylinder piece, but wobbling is provided with on the inside wall of breach and jumps the piece, jump the piece with fixedly connected with pushes away the spring between the breach inner wall, annular array and fixed limiting block that is provided with on the week side arc inner wall of perforating hole, through jump the piece with limiting block's joint can restrict the cylinder piece is in rotation in the perforating hole.

But preferably, it is the structure constitution that both ends taped toper and middle part position were provided with the pivot to lead smooth wedge, lead smooth wedge pass through the rotatable connection of pivot in on the inside wall of lift cover piece, the conical head of leading smooth wedge both ends can be for slide in the ring rail plays the guide effect.

Preferably, the inner walls of the front side and the rear side of the sliding groove are respectively provided with a guide sliding groove, the front end and the rear end of the sliding block are fixedly provided with a guide sliding block capable of sliding in the guide sliding groove, and the guide sliding block and the guide sliding groove can limit the sliding route of the sliding block in the sliding groove.

Preferably, the annular guide rail is an arc-shaped closed curve arranged on an arc-shaped surface on the outer side of the rotating cylinder and is divided into a part A and a part B.

Preferably, the friction force between the cylindrical block and the inner wall of the through hole during forward rotation is greater than the sum of the friction forces of parts between the rotating cylinder and the swing rod.

The invention has the beneficial effects that: the device can complete the walking scanning of the scanner on the surface of the workpiece under the drive of six shafts, so as to record the surface shape of the workpiece, has the characteristics of completeness and comprehensiveness of a scanning route compared with a manual scanning mode, can realize operations such as focusing according to specific shapes in the scanning and recording process, realizes more accurate scanning on the surface of the workpiece in a mode of reducing scanning area, and can greatly accelerate the work efficiency of scanning parts and establishing a three-dimensional graph.

Drawings

For ease of illustration, the invention is described in detail by the following specific examples and figures.

FIG. 1 is a schematic overall structure diagram of a six-axis linkage visual inspection instrument based on an inclined guide rail according to the present invention;

FIG. 2 is a schematic view of a base of the visual inspection apparatus in a top view;

FIG. 3 is a schematic view of a portion of the structure of FIG. 1;

FIG. 4 is a schematic view of a portion of the structure of FIG. 3;

FIG. 5 is a schematic view of the construction of the steering limiter;

fig. 6 is a schematic diagram of the placement of three sets of guide rails.

Detailed Description

The invention will now be described in detail with reference to fig. 1 to 6, for the sake of convenience of description, the following orientations are now defined: the up, down, left, right, and front-back directions described below correspond to the up, down, left, right, and front-back directions in the projection relationship of fig. 1 itself.

The invention relates to a six-axis linkage visual detector based on an inclined guide rail, which is further explained by combining the attached drawings of the invention:

the six-axis linkage visual detector based on the inclined guide rail comprises a base plate 162 which is placed on the ground and can be used for placing and fixing parts, three groups of guide rails 101 which are connected end to end and are obliquely placed are supported and placed on the upper side end face of the base plate 162 through a supporting frame 161, a sliding groove 104 with an outward opening is formed in each guide rail 101, a driving motor is fixedly arranged on the inner wall of the front side of each sliding groove 104, the rear end of each driving motor is in power connection with a rotating lead screw 105 which can rotate in each sliding groove 104, a guide sliding shaft 103 is fixedly connected between the inner walls of the front side and the rear side of each rotating lead screw 105, a guide rail sliding block 102 is slidably arranged in each sliding groove 104, and the guide rail sliding block 102 is in threaded connection with the rotating lead screw 105, Is connected with the slide guiding shaft 103 in a sliding way;

a first hinged support 106 is fixedly connected to the upper end face of the guide rail sliding block 102, a rotating winch 107 is rotatably arranged in the first hinged support 106, an upper mechanical swing rod 108 is fixedly connected to the upper end of the rotating winch 107, a second hinged support 109 is fixedly connected to the upper end of the upper mechanical swing rod 108, a third hinged support 111 is rotatably arranged in the second hinged support 109, a lower mechanical swing rod 112 is fixedly arranged on the third hinged support 111, a cylindrical fine adjustment rotating rod 114 is rotatably arranged at the lower end of the lower mechanical swing rod 112, the fine adjustment rotating rod 114 is driven by a linkage motor 113 fixedly arranged in the lower mechanical swing rod 112, and a rotating plate 115 is fixedly connected to the lower end of the fine adjustment rotating rod 114;

the three-dimensional workpiece surface shape scanning device comprises a guide rail 101, wherein a visual detector base 119 is arranged between the guide rail 101, three groups of rotating base frames 116 are fixedly arranged on the arc-shaped end faces of the peripheral sides of the visual detector base 119, three groups of rotating pieces 115 on the guide rail 101 are respectively and rotatably connected into the rotating base frames 116, a visual detector capable of scanning and recording the surface shape of a workpiece is arranged in the visual detector base 119, the visual detector is uploaded to a PC (personal computer) end after the surface shape information of the workpiece is scanned, a three-dimensional workpiece figure is established through the PC end, and the guide rail 101, an upper mechanical swing rod 108 and a lower mechanical swing rod 112 are driven to rotate the visual detector base 119 in six degrees of freedom, so that the visual detector is assisted to perform moving scanning on the surface of the workpiece.

As can be seen from fig. 1, 3, 4 and 6, the vision inspection apparatus includes a focusing driving cavity 121 disposed in the vision inspection apparatus base 119 and having a downward opening, a rotating disc 122 is rotatably disposed in the focusing driving cavity 121, a through hole 124 is disposed in the rotating disc 122 in an up-down penetrating manner, and three sets of swing grooves 141 are disposed in the rotating disc 122 in an annular array around the through hole 124;

a focusing-scanning motor 126 is fixedly arranged in the upper inner wall of the focusing driving cavity 121, a rotating cylinder 143 is dynamically connected to the lower end of the focusing-scanning motor 126, a cylindrical block 144 capable of rotating in one direction in the through hole 124 is fixedly connected to the lower end of the rotating cylinder 143, the cylindrical block 144 realizes the one-way rotation in the through hole 124 through a steering limiter, an annular guide rail 147 is arranged around the through hole 124, a lifting sleeve block 125 is slidably sleeved on the rotating cylinder 143, a sliding guide wedge block 148 capable of sliding in the annular guide rail 147 is rotatably arranged on the inner side wall of the lifting sleeve block 125, in addition, a fixed block 131 is fixedly arranged on the upper end face of the turntable 122 at a position corresponding to the swinging groove 141, and the upper end of the fixed block 131 is slidably connected with the upper inner wall of the focusing driving cavity 121, a sliding groove 132 with an opening facing the rotating cylinder 143 is formed in the fixed block 131, a sliding block 134 is slidably arranged in the sliding groove 132, the sliding block 134 is connected with the lifting sleeve block 125 through a first connecting rod 127, the first connecting rod 127 is rotatably connected with the sliding block 134 and the lifting sleeve block 125, and a second connecting rod 136 is rotatably connected to the sliding block 134;

the inner wall of the swing groove 141 close to one side of the cylindrical block 144 is rotatably provided with a swing rod 142, one end of the swing rod 142 far away from the cylindrical block 144 is fixedly connected with a bearing block 137, the upper end of the bearing block 137 is rotatably connected with the lower end of the second connecting rod 136, the lower side end face of the bearing block 137 is fixedly provided with a scanner 139, and the scanner 139 can judge the shape and distance of the outer surface of the workpiece and measure the shape of the workpiece through a route and collect the shape and distance to a PC end.

As can be seen from fig. 5, the steering limiter includes a notch 159 which is provided in the cylindrical block 144 and has an outward opening, a jump block 157 is provided on an inner side wall of the notch 159 in a swinging manner, a pushing spring 158 is fixedly connected between the jump block 157 and an inner wall of the notch 159, a limiting block 123 is fixedly provided on an arc-shaped inner wall of the peripheral side of the through hole 124 in an annular array, and the rotation of the cylindrical block 144 in the through hole 124 can be limited by the engagement of the jump block 157 and the limiting block 123.

Advantageously, as shown in fig. 1 and fig. 4, the sliding guiding wedge-shaped block 148 is a structure with two tapered ends and a rotating shaft disposed at the middle position, the sliding guiding wedge-shaped block 148 is rotatably connected to the inner side wall of the lifting sleeve block 125 through the rotating shaft, and the tapered ends at the two ends of the sliding guiding wedge-shaped block 148 can guide the sliding in the annular guide rail 147.

Advantageously, as shown in fig. 3, the front and rear inner walls of the sliding slot 132 are respectively provided with a guiding slot 133, the front and rear ends of the sliding block 134 are fixedly provided with a guiding block capable of sliding in the guiding slot 133, and the guiding block and the guiding slot 133 can limit the sliding path of the sliding block 134 in the sliding slot 132.

Advantageously, the circular guide 147 is an arc-shaped closed curve opened on the arc-shaped surface outside the rotating cylinder 143, and is divided into a portion a and a portion B.

Advantageously, the friction between the cylindrical block 144 and the inner wall of the through hole 124 during the forward rotation is greater than the sum of the friction between the rotating cylinder 143 and the swing link 142.

In an initial state, the sliding block 134 moves up to the maximum extent in the sliding slot 132, the swing link 142 and the bearing block 137 are located in the swing slot 141, at this time, the lifting sleeve block 125 moves up to the maximum extent on the rotating cylinder 143, and the upper surface of the visual detector base 119 is in a horizontal state under the driving of the three sets of the guide rails 101 and the upper mechanical swing link 108.

When in use, a user places a workpiece to be subjected to memorable three-dimensional modeling on the upper side end face of the bottom plate 162, and corrects, positions and fixes the workpiece;

after the workpiece is placed, the six-axis linkage vision detector is started, at this time, the driving motor is started to drive the guide rail slide block 102 to slide in the slide groove 104, and further drive the upper mechanical swing rod 108 and the lower mechanical swing rod 112 to swing, and further drive the vision detector base 119 to move, meanwhile, the linkage motor 113 is started to drive the fine adjustment rotating rod 114 to rotate relative to the fine adjustment rotating rod 114, and in the process, the driving motors in the three groups of guide rails 101 and the linkage motor 113 are linked to drive the vision detector base 119 to move on the surface of the fixed workpiece under the control of a preset program;

in the moving process of the scanner 11, three sets of the scanners 139 are turned on, and scan and record the shape of the surface of the workpiece, at this time, the focusing-scanning motor 126 rotates in the reverse direction, and further drives the rotating cylinder 143 and the cylindrical block 144 to rotate in the reverse direction, at this time, the jumping block 157 springs out of the notch 159 and abuts against the limiting block 123 under the elastic force of the pushing spring 158, at this time, the rotating cylinder 143 rotating in the reverse direction drives the cylindrical block 144 to rotate, and drives the rotating disc 122 to rotate through the clamping connection of the jumping block 157 and the limiting block 123, and further drives the scanner 139 disposed in the rotating disc 122 to rotate, at this time, the rotating scanner 139 can increase the area swept during scanning, and at this time, because the rotating disc 122 synchronously drives the fixed block 131 and the first connecting rod 127 to rotate, therefore, the lifting sleeve block 125 has no rotational constraint, at this time, the lifting sleeve block 125 synchronously rotates reversely along with the rotating cylinder 143, and the first link 127 is kept in the state of being located in the swing groove 141;

when a groove or an area with an uneven shape needs to be scanned, the focusing power of the scanner 139 needs to be increased to align the groove or the area with an uneven shape to the inside of a chamber or a tiny part, at this time, the focusing-scanning motor 126 drives the rotating cylinder 143 to rotate in the forward direction, at this time, the back of the arc surface of the jump block 157 abuts against the limiting block 123, and further the jump block 123 is pushed to retract into the notch 159, at this time, the rotating cylinder block 144 rotating in the forward direction does not drive the rotating disc 122 to rotate, at this time, the fixed block 131 fixed to the rotating disc 122 and the first connecting rod 127 are rotationally constrained, at this time, the lifting sleeve 125 starts to slide in a state that the rotating cylinder 143 rotates, at this time, the sliding wedge block 148 slides in the annular guide rail 147, and further drives the lifting sleeve 125 to slide up and down on the rotating cylinder 143, the first link 127 is further driven to push the sliding block 134 to slide in the sliding slot 132, and further push the swing link 142 to swing, so that the three sets of scanners 139 focus and reduce the scanning area, thereby increasing the scanning accuracy;

during the sliding of the sliding wedge 148 within the circular guide 147, as it passes through the intersection of the circular closed curve, before the shaft part on the sliding guide wedge block 148 enters the part A, the tip part of the sliding guide wedge block 148 firstly enters the other end of the straight line, the travel path of the shoe 148 is defined such that when the shoe 148 is moved to the uppermost B portion (or the lowermost portion), since there is only one moving path of the sliding guide wedge 148, at this time, the sliding guide wedge 148 rotates and enters a downward sliding (or upward moving) path, therefore, the continuous positive rotation of the rotating cylinder 143 drives the sliding wedge 148 to slide, and drives the lifting sleeve block 125 to continuously and circularly slide up and down, so as to control the swing angle of the swing rod 142 and the bearing block 137.

The invention has the beneficial effects that: the device can complete the walking scanning of the scanner 139 on the surface of the workpiece under the drive of six shafts, so as to record the shape of the surface of the workpiece, has the characteristics of completeness and comprehensiveness of a scanning route compared with a manual scanning mode, can realize operations such as focusing according to specific shapes in the process of scanning and recording, realizes more accurate scanning of the surface of the workpiece in a mode of reducing scanning area, and can greatly accelerate the work efficiency of scanning parts and establishing a three-dimensional graph.

In the above manner, a person skilled in the art can make various changes depending on the operation mode within the scope of the present invention.

Claims

1. The utility model provides a six-axis linkage visual detection appearance based on inclined guide, includes the bottom plate, its characterized in that: a guide rail is supported and placed on the end face of the upper side of the bottom plate through a supporting frame, a sliding groove with an outward opening is formed in the guide rail, a driving motor is fixedly arranged on the inner wall of the front side of the sliding groove, the rear end of the driving motor is in power connection with a rotating lead screw capable of rotating in the sliding groove, a guide sliding shaft is fixedly connected between the inner wall of the front side and the inner wall of the rear side of the rotating lead screw and positioned on the lower side of the guide sliding block, a guide sliding block is slidably arranged in the sliding groove, and the guide sliding block is in threaded connection with the rotating lead screw and is in sliding connection with the;

a first hinged support is fixedly connected to the upper side end face of the guide rail sliding block, a rotating winch is rotatably arranged in the first hinged support, an upper mechanical swing rod is fixedly connected to the upper end of the rotating winch, a second hinged support is fixedly connected to the upper end of the upper mechanical swing rod, a third hinged support is rotatably arranged in the second hinged support, a lower mechanical swing rod is fixedly arranged on the third hinged support, a fine adjustment rotating rod is rotatably arranged at the lower end of the lower mechanical swing rod, the fine adjustment rotating rod is driven by a linkage motor fixedly arranged in the lower mechanical swing rod, and a rotor is fixedly connected to the lower end of the fine adjustment rotating rod;

the three-dimensional workpiece three-dimensional image acquisition device comprises three groups of guide rails, wherein a visual detector base is arranged between the guide rails, three groups of rotating base frames are fixedly arranged on the arc-shaped end faces of the peripheral sides of the visual detector base, the rotating pieces on the guide rails are respectively and rotatably connected into the rotating base frames, a visual detection device is arranged in the visual detector base, and the visual detection device uploads the workpiece surface shape information to a PC (personal computer) end after scanning and establishes a three-dimensional workpiece image through the PC end.

2. The six-axis linkage visual inspection instrument based on the inclined guide rail as claimed in claim 1, characterized in that: the visual detection device comprises a focusing driving cavity which is arranged in the visual detector base and has a downward opening, a turntable is rotatably arranged in the focusing driving cavity, a through hole penetrates through the turntable up and down, and three groups of swinging grooves which penetrate through the turntable up and down are arranged in the turntable around the through hole in an annular array;

the upside inner wall internal fixation of drive chamber of focusing is provided with focuses-scanning motor, the lower extreme power connection of focusing-scanning motor has the rotation cylinder, the lower extreme fixedly connected with of rotation cylinder can in one-way pivoted cylinder piece in the through-hole, the cylinder piece is realized through turning to the limiter one-way rotation in the through-hole, it is provided with annular guide rail to surround on the through-hole, slidable cover is equipped with the lift cover piece on the rotation cylinder, rotatable being provided with on the inside wall of lift cover piece can be in the gliding cunning block of leading of annular guide rail, on the upside terminal surface of carousel, for the fixed block of wobbling trench position department is fixed, sliding connection between the upper end of fixed block and the upside inner wall of drive chamber of focusing, be provided with the opening in the fixed block and towards the spout of rotation cylinder, a sliding block is slidably arranged in the sliding groove, the sliding block is connected with the lifting sleeve block through a first connecting rod, the first connecting rod is rotatably connected with the sliding block and the lifting sleeve block, and a second connecting rod is rotatably connected to the sliding block;

3. The six-axis linkage visual inspection instrument based on the inclined guide rail as claimed in claim 2, characterized in that: turn to the limiter including the outside setting up of opening in breach in the cylinder piece, but wobbling is provided with the jump piece on the inside wall of breach, jump the piece with fixedly connected with pushes away the spring between the breach inner wall, annular array and fixed limiting block that is provided with on the week side arc inner wall of perforating hole.

4. The six-axis linkage visual inspection instrument based on the inclined guide rail as claimed in claim 2, characterized in that: the structure that leads smooth wedge be both ends area toper and middle part position and be provided with the pivot constitutes, lead smooth wedge pass through the rotatable connection of pivot in on the inside wall of lift cover piece.

5. The six-axis linkage visual inspection instrument based on the inclined guide rail as claimed in claim 2, characterized in that: the inner walls of the front side and the rear side of the sliding groove are respectively provided with a guide sliding groove, and the front end and the rear end of the sliding block are fixedly provided with a guide sliding block which can slide in the guide sliding grooves.

6. The six-axis linkage visual inspection instrument based on the inclined guide rail as claimed in claim 2, characterized in that: the annular guide rail is an arc-shaped closed curve arranged on the arc-shaped surface on the outer side of the rotating cylinder and is divided into a part A and a part B.

7. The six-axis linkage visual inspection instrument based on the inclined guide rail as claimed in claim 2, characterized in that: and the friction force between the cylindrical block and the inner wall of the through hole is greater than the sum of the friction forces of parts between the rotating cylinder and the swing rod when the cylindrical block rotates in the positive direction.