CN113199457B

CN113199457B - Electromechanical integrated robot base fixing device

Info

Publication number: CN113199457B
Application number: CN202110517552.XA
Authority: CN
Inventors: 林向华
Original assignee: Wenzhou Polytechnic
Current assignee: Hefei Longzhi Electromechanical Technology Co ltd
Priority date: 2021-05-12
Filing date: 2021-05-12
Publication date: 2023-02-03
Anticipated expiration: 2041-05-12
Also published as: CN113199457A

Abstract

The invention discloses an electromechanical integrated robot base fixing device which comprises a mounting seat, wherein movable seats are symmetrically arranged on two sides of the mounting seat, a cross frame is fixedly connected between the two groups of movable seats, side plates are fixedly connected to the tops of the movable seats, and a connecting frame is fixedly connected between the two groups of side plates.

Description

Electromechanical integrated robot base fixing device

Technical Field

The invention relates to the field of electromechanical integrated robots, in particular to a base fixing device of an electromechanical integrated robot.

Background

Mechatronics is also called mechanical electronic engineering, and is one of mechanical engineering and automation. With the rapid development of mechatronics technology, the concept of mechatronics is widely accepted and commonly applied by us. With the rapid development and wide application of computer technology, the mechatronic technology has not been developed before. The mechatronics technology is a comprehensive technology which organically combines multiple technologies such as mechanical technology, electrical and electronic technology, microelectronic technology, information technology, sensor technology, interface technology, signal conversion technology and the like and is comprehensively applied to the reality, and modern automatic production equipment is almost all mechatronics equipment.

A robot is an intelligent machine that can work semi-autonomously or fully autonomously. The robot has basic characteristics of perception, decision, execution and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, improves the work efficiency and quality, serves human life, and expands or extends the activity and capability range of the human beings.

This application improves under prior art, and among the prior art, current mechatronic robot is when removing, and the transport of being not convenient for because mechatronic robot weight is too big leads to inertia great, and in moving, when mechatronic robot removes near the assembly line, the stop of being not convenient for leads to mechatronic robot directly to contact with the assembly line easily, causes mechatronic robot or assembly line to damage.

Disclosure of Invention

The invention aims to solve the defects in the prior art and provides a fixing device for a base of an electromechanical integrated robot.

In order to achieve the purpose, the invention adopts the following technical scheme:

the utility model provides an mechatronic robot base fixing device, includes the mount pad, the both sides of mount pad are equipped with the sliding seat of symmetric distribution, and are two sets of fixedly connected with crossbearer between the sliding seat, and crossbearer and mount pad sliding connection, the top fixedly connected with curb plate of sliding seat, it is two sets of fixedly connected with link between the curb plate, and the shape of link is C shape, the curb plate is close to one side fixedly connected with symmetric distribution's of mount pad diaphragm, and is two sets of rotate between the diaphragm and be connected with the guiding axle that the multiunit equidistance distributes, the outer wall of guiding axle is fixed to have cup jointed guide gear, the fixed chain wheel that has cup jointed of one end outer wall that the guiding axle stretches out guide gear, the multiunit connect through the chain between the chain wheel, one side fixed mounting that the curb plate is close to the mount pad has the fourth motor, and fourth motor output shaft and guiding axle fixed connection, the adjustment tank has all been seted up to the both sides of mount pad, adjustment tank inner wall fixedly connected with adjusts the rack, and adjust the rack and guide gear meshing, the top fixedly connected with the leading arm, the top fixedly connected with leading arm of mount pad, the top sliding connection has the platform, the swing arm rotation of swing arm.

As a still further scheme of the invention: the inner wall fixedly connected with fixed disk of set casing bottom, the fixed disk top is rotated and is connected with the vertical axis, the outer wall of vertical axis is fixed to be cup jointed, the vertical axis stretch out the one end outer wall at top and install with set casing fixed connection's first bearing, the vertical axis stretches out the one end and the base fixed connection at set casing top.

As a still further scheme of the invention: one side meshing of first gear has the third gear, the fixed pivot that has cup jointed of third gear outer wall, and pivot and set casing rotate and be connected, the fixed cover of one end outer wall that the pivot stretches out the third gear bottom has cup jointed the second gear, the meshing of one side top that the vertical axis was kept away from to the second gear has the fourth gear, the fixed cover of fourth gear inner wall has cup jointed the connecting axle, the outer wall of connecting axle is installed and is rotated the second bearing of being connected with the set casing.

As a still further scheme of the invention: one side fixedly connected with shell of set casing, and shell and platform top fixed connection, shell inner wall fixed mounting has the fifth motor, and fifth motor output shaft and connecting axle fixed connection.

As a still further scheme of the invention: the shape of leading truck is the U-shaped, top one side fixedly connected with direction rack of leading truck, the first motor of platform top fixedly connected with, the output shaft fixedly connected with adjusting gear of first motor, and adjusting gear meshes with the direction rack mutually, the equal fixedly connected with guide rail in both sides of leading truck, guide rail outer wall sliding connection has the fluting piece of symmetric distribution, and fluting piece and platform bottom fixed connection, one side fixedly connected with track of platform, and the track other end and leading truck inner wall fixed connection.

As a still further scheme of the invention: the last rotation of sliding seat is connected with the walking axle that the multiunit equidistance distributes, the fixed cover of walking axle outer wall has connect and has removed the wheel, crossbearer top fixedly connected with sixth motor, sixth motor output shaft fixedly connected with transmission shaft, the fixed driving gear that has cup jointed of transmission shaft outer wall, the bottom meshing of driving gear has driven gear, and driven gear inner wall and the fixed cup joint of walking axle.

As a still further scheme of the invention: two sets of one side that the curb plate kept away from each other all articulates there is the bull stick of symmetric distribution, the bottom of bull stick articulates there is the connecting rod, the other end of connecting rod articulates there is the riser, two sets of one side top fixedly connected with overlap joint pole that the riser is close to each other.

As a still further scheme of the invention: the top both sides of bull stick are equipped with the stabilizer blade of symmetric distribution, and the stabilizer blade passes through bolt and curb plate fixed connection, and are two sets of be provided with the spacer pin between the stabilizer blade, the bull stick passes through the spacer pin and articulates with the stabilizer blade, it has the connecting piece to articulate between bull stick and the connecting rod, one side butt joint that the overlap joint pole is close to the curb plate has the dead lever with curb plate fixed connection, the below of overlap joint pole is equipped with the cylinder that the slope set up, and the cylinder slope sets up, the drive end and the overlap joint pole of cylinder are articulated.

As a still further scheme of the invention: one side fixedly connected with third motor of base, and the output shaft and the rocking arm fixed connection of third motor, swing arm one side fixedly connected with second motor, and the output shaft and the rocking arm fixed connection of second motor.

The invention has the following beneficial effects:

1. according to the invention, when the integral device is moved, a sixth motor is started, an output shaft of the sixth motor rotates to drive a transmission shaft to rotate so as to drive a driving gear to rotate, the driving gear drives a traveling shaft to rotate through a driven gear so as to drive a moving wheel to rotate, the integral device starts traveling, when the device reaches the position near a production line, the sixth motor is stopped and a fourth motor is started, an output shaft of the fourth motor rotates to drive guide shafts to rotate, a plurality of groups of guide shafts are connected through a chain wheel and a chain, the plurality of groups of guide shafts rotate simultaneously so as to drive a plurality of groups of guide gears to rotate simultaneously, the guide gears are matched with an adjusting rack in the rotating process to move an installation seat, the installation seat moves to drive a guide frame and all components to move, when the end part of the guide frame reaches the production line, the fourth motor is stopped, the integral device is convenient to move, and the damage or the side fall of parts caused by the collision of objects on the guide frame direct production line in the moving process are avoided;

2. in the invention, in use, a first motor is started, an output shaft of the first motor rotates to drive an adjusting gear to rotate, the platform moves to drive a mechanical arm at the top of the platform to move through the matching of the adjusting gear and a guide rack, when the mechanical arm needs to turn to move, a fifth motor is started, an output shaft of the fifth motor rotates to drive a connecting shaft to rotate to drive a fourth gear to rotate, the fourth gear drives a second gear to rotate to drive a rotating shaft to rotate, a third gear rotates to drive a first gear to rotate, the first gear rotates to drive a vertical shaft to rotate to drive a base to rotate, and the base is convenient to turn, and then the swinging arm and a swinging arm are convenient to turn through the arrangement of the second motor and the third motor, so that the mechanical arm can process different positions, the base is prevented from being directly connected with the vertical shaft to drive the base to rotate through the vertical shaft through a series of structures arranged in a fixed shell, the stability of the whole device is improved, and the vertical shaft is prevented from being bent or damaged due to unidirectional stress in use;

3. when the device is used, the air cylinder can be started, the driving end of the air cylinder drives the lap joint rod to move, when the lap joint rod moves, the lap joint rod enables the vertical plate to move, the side face of the side plate forms a frame through the matching of the connecting rod, the connecting piece and the rotating rod, the material box can be placed in the frame, the space is effectively saved, and the using effect of the device is improved.

Drawings

Fig. 1 is a schematic structural diagram of a base fixing device of an mechatronic robot provided by the invention;

FIG. 2 is a front view of a base fixing device of an mechatronic robot according to the present invention;

fig. 3 is a schematic structural view of a guide frame of a fixing device of a base of an electromechanical integrated robot according to the present invention;

fig. 4 is a schematic structural diagram of a fixing shell of a fixing device of a base of an mechatronic robot according to the present invention;

fig. 5 is a cross-sectional view of a fixing housing of a base fixing device of an mechatronic robot provided by the invention;

fig. 6 is a front view of a guide frame of a base fixing device of an mechatronic robot according to the present invention;

FIG. 7 is an enlarged schematic view of the structure at the point A in FIG. 1;

FIG. 8 is an enlarged view of the portion B of FIG. 1 according to the present invention;

fig. 9 is an enlarged schematic view of the structure at C of fig. 2 according to the present invention.

Illustration of the drawings:

the device comprises a transverse frame 1, a movable seat 2, a mounting seat 3, a connecting frame 4, a side plate 5, a rotating rod 6, a connecting rod 7, a lap joint rod 8, a vertical plate 9, an air cylinder 10, a guide frame 11, a movable wheel 12, a driven gear 13, a transmission shaft 14, a driving gear 15, a support leg 16, a limiting pin 17, a fixed rod 18, a connecting piece 19, a guide rack 20, a slotted block 21, a platform 22, a first motor 23, a crawler belt 24, a shell 25, a fixed shell 26, a vertical shaft 27, a first bearing 28, a first gear 29, a fixed disk 30, a second gear 31, a third gear 32, a fourth gear 33, a connecting shaft 34, a rotating shaft 35, a second bearing 36, a transverse plate 37, a chain wheel 38, a guide shaft 39, a guide gear 40, an adjusting rack 41, an adjusting groove 42, a rocker arm 43, a swing arm 44, a second motor 45, a third motor 46, a base 47 and an adjusting gear 48.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention; the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance, and furthermore, unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Referring to fig. 1-9, the invention provides an electromechanical integrated robot base fixing device, which comprises a mounting base 3, wherein two sides of the mounting base 3 are provided with symmetrically distributed movable bases 2, a cross frame 1 is fixedly connected between two groups of movable bases 2, the cross frame 1 is in sliding connection with the mounting base 3, the top of each movable base 2 is fixedly connected with a side plate 5, a connecting frame 4 is fixedly connected between two groups of side plates 5, the connecting frame 4 is in a C shape, one side of each side plate 5, which is close to the mounting base 3, is fixedly connected with symmetrically distributed transverse plates 37, a plurality of groups of guide shafts 39 which are distributed at equal intervals are rotatably connected between the two groups of transverse plates 37, the outer wall of each guide shaft 39 is fixedly sleeved with a guide gear 40, the outer wall of one end of each guide shaft 39, which extends out of the guide gear 40, is fixedly sleeved with a chain wheel 38, the plurality of groups of chain wheels 38 are connected through chains, and one side of each side plate 5, which is close to the mounting base 3, is fixedly provided with a fourth motor, and the output shaft of the fourth motor is fixedly connected with the guide shaft 39, both sides of the mounting seat 3 are provided with adjusting grooves 42, the inner wall of the adjusting groove 42 is fixedly connected with an adjusting rack 41, and the adjusting rack 41 is engaged with the guide gear 40, the top of the mounting seat 3 is fixedly connected with the guide frame 11, the top of the guide frame 11 is slidably connected with the platform 22, the top of the platform 22 is fixedly connected with the fixed casing 26, the top of the fixed casing 26 is rotatably connected with the base 47, one side of the base 47 is rotatably connected with the rocker arm 43, the top of the rocker arm 43 is rotatably connected with the swing arm 44, the inner wall of the bottom of the fixed casing 26 is fixedly connected with the fixed disk 30, the top of the fixed disk 30 is rotatably connected with the vertical shaft 27, the outer wall of the vertical shaft 27 is fixedly sleeved with the base 59, the outer wall of one end of the vertical shaft 27 extending out of the top of the 59 is provided with the first bearing 28 fixedly connected with the fixed casing 26, one end of the vertical shaft 27 extending out of the top of the fixed casing 26 is fixedly connected with the base 47, a third gear 32 is engaged with one side of the first gear 29, a rotating shaft 35 is fixedly sleeved on the outer wall of the third gear 32, the rotating shaft 35 is rotatably connected with the fixed shell 26, a second gear 31 is fixedly sleeved on the outer wall of one end of the rotating shaft 35, which extends out of the bottom of the third gear 32, a fourth gear 33 is engaged with the top of one side of the second gear 31, which is far away from the vertical shaft 27, a connecting shaft 34 is fixedly sleeved on the inner wall of the fourth gear 33, a second bearing 36 which is rotatably connected with the fixed shell 26 is installed on the outer wall of the connecting shaft 34, a shell 25 is fixedly connected with one side of the fixed shell 26, the shell 25 is fixedly connected with the top of the platform 22, a fifth motor is fixedly installed on the inner wall of the shell 25, an output shaft of the fifth motor is fixedly connected with the connecting shaft 34, the guide frame 11 is U-shaped, a guide rack 20 is fixedly connected with one side of the top of the guide frame 11, and a first motor 23 is fixedly connected with the top of the platform 22, an output shaft of a first motor 23 is fixedly connected with an adjusting gear 48, the adjusting gear 48 is meshed with a guide rack 20, two sides of a guide frame 11 are fixedly connected with guide rails, the outer wall of each guide rail is connected with symmetrically distributed slotted blocks 21 in a sliding manner, the slotted blocks 21 are fixedly connected with the bottom of a platform 22, one side of the platform 22 is fixedly connected with a crawler 24, the other end of the crawler 24 is fixedly connected with the inner wall of the guide frame 11, a plurality of groups of walking shafts distributed at equal intervals are rotatably connected on a movable seat 2, the outer wall of each walking shaft is fixedly sleeved with a movable wheel 12, the top of a transverse frame 1 is fixedly connected with a sixth motor, an output shaft of the sixth motor is fixedly connected with a transmission shaft 14, the outer wall of the transmission shaft 14 is fixedly sleeved with a driving gear 15, the bottom of the driving gear 15 is meshed with a driven gear 13, the inner wall of the driven gear 13 is fixedly sleeved with the walking shafts, and symmetrically distributed rotating rods 6 are hinged on the sides of two groups of side plates 5 far away from each other, the bottom of bull stick 6 articulates there is connecting rod 7, the other end of connecting rod 7 articulates there is riser 9, one side top fixedly connected with overlap joint pole 8 that two sets of riser 9 are close to each other, the top both sides of bull stick 6 are equipped with symmetric distribution's stabilizer blade 16, and stabilizer blade 16 passes through bolt and curb plate 5 fixed connection, be provided with spacer pin 17 between two sets of stabilizer blades 16, bull stick 6 is articulated with stabilizer blade 16 through spacer pin 17, it has connecting piece 19 to articulate between bull stick 6 and the connecting rod 7, one side butt joint that overlap joint pole 8 is close to curb plate 5 has the dead lever 18 with curb plate 5 fixed connection, the below of overlap joint pole 8 is equipped with the cylinder 10 that the slope set up, and the cylinder 10 slope sets up, the drive end of cylinder 10 is articulated with overlap joint pole 8, one side fixedly connected with third motor 46 of base 47, and third motor 46's output shaft and rocking arm 43 fixed connection, swing arm 44 one side fixedly connected with second motor 45, and the output shaft and rocking arm 43 fixed connection of second motor 45.

The working principle is as follows:

in the application, when the integral device is moved, a sixth motor is started, an output shaft of the sixth motor rotates to drive a transmission shaft 14 to rotate so as to drive a driving gear 15 to rotate, the driving gear 15 drives a walking shaft to rotate through a driven gear 13 so as to drive a moving wheel 12 to rotate, the integral device starts to walk, when the device reaches the position near a production line, the sixth motor is stopped and a fourth motor is started, an output shaft of the fourth motor rotates to drive a guide shaft 39 to rotate, a plurality of groups of guide shafts 39 are connected with a chain through a chain wheel 38, the plurality of groups of guide shafts 39 simultaneously rotate so as to drive a plurality of groups of guide gears 40 to simultaneously rotate, the guide gears 40 are matched with an adjusting rack 41 in the rotating process so as to enable an installation seat 3 to move, the installation seat 3 moves to drive a guide frame 11 and all components to move, when the end part of the guide frame 11 reaches the production line, the fourth motor is stopped, the integral device is convenient to move, and the damage to parts or the parts are prevented from being damaged or toppled over due to the direct collision of the guide frame 11 on the production line in the moving process;

in the application, in use, the first motor 23 is started, an output shaft of the first motor 23 rotates to drive the adjusting gear 48 to rotate, the platform 22 moves to drive the mechanical arm at the top of the platform 22 to move through the matching of the adjusting gear 48 and the guide rack 20, when the mechanical arm needs to turn to move, the fifth motor is started, an output shaft of the fifth motor rotates to drive the connecting shaft 34 to rotate to drive the fourth gear 33 to rotate, the fourth gear 33 drives the second gear 31 to rotate to drive the rotating shaft 35 to rotate, so that the third gear 32 rotates to drive the first gear 29 to rotate, the first gear 29 rotates to drive the vertical shaft 27 to rotate to drive the base 47 to rotate, so that the base 47 can be conveniently turned, and then, the turning of the rocker arm 43 and the swing arm 44 is facilitated through the arrangement of the second motor 45 and the third motor 46, so that the mechanical arm can conveniently process different positions, the base 47 is prevented from directly driving the base 47 to rotate through the connection of the vertical shaft 27 and the base 47 through the series of structures arranged in the fixing shell 26, so that the stability of the whole device is improved, and the problem that the vertical shaft 27 is bent or damaged due to unidirectional stress in use is avoided;

in this application, when using, can start cylinder 10, cylinder 10's drive end drives overlap joint pole 8 and removes, and when overlap joint pole 8 removed, overlap joint pole 8 made riser 9 remove, through connecting rod 7, connecting piece 19 and bull stick 6's cooperation for the side of curb plate 5 forms the frame, can put the thing workbin in the frame, and the effectual space-saving has improved the result of use of device.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.

Claims

1. The utility model provides an mechatronic robot base fixing device, includes mount pad (3), its characterized in that:

the utility model discloses a chain wheel, including mount pad (3), both sides of mount pad (3) are equipped with the sliding seat (2) of symmetric distribution, and are two sets of fixedly connected with crossbearer (1) between sliding seat (2), and crossbearer (1) and mount pad (3) sliding connection, the top fixedly connected with curb plate (5) of sliding seat (2), two sets of fixedly connected with link (4) between curb plate (5), and the shape of link (4) is C shape, curb plate (5) are close to one side fixedly connected with symmetric distribution's of mount pad (3) diaphragm (37), two sets of rotate between diaphragm (37) and be connected with guiding axle (39) that the multiunit equidistance distributes, guiding gear (40) have been cup jointed to the outer wall of guiding axle (39), guiding axle (39) stretch out the one end outer wall fixed coupling of guiding gear (40) have chain wheel (38), the multiunit connect through the chain between chain wheel (38), one side fixedly connected with fourth motor, and fourth motor output shaft (39) fixed connection, the both sides of mount pad (3) all set up adjustment groove (42), adjustment groove (42) and adjustment groove (41) top of rack (11), rack (11) and rack (11), the top of the guide frame (11) is slidably connected with a platform (22), the top of the platform (22) is fixedly connected with a fixed shell (26), the top of the fixed shell (26) is rotatably connected with a base (47), one side of the base (47) is rotatably connected with a rocker arm (43), the top of the rocker arm (43) is rotatably connected with a swing arm (44),

the inner wall of the bottom of the fixed shell (26) is fixedly connected with a fixed disk (30), the top of the fixed disk (30) is rotatably connected with a vertical shaft (27), one end of the vertical shaft (27) extending out of the top of the fixed shell (26) is fixedly connected with a base (47),

one side meshing of first gear (29) has third gear (32), the fixed cover of third gear (32) outer wall has connect pivot (35), and pivot (35) rotate with set casing (26) and be connected, the fixed cover of one end outer wall that third gear (32) bottom was stretched out in pivot (35) has connect second gear (31), the meshing of one side top that vertical axis (27) was kept away from in second gear (31) has fourth gear (33), the fixed cover of fourth gear (33) inner wall has connect connecting axle (34), second bearing (36) of being connected with set casing (26) rotation are installed to the outer wall of connecting axle (34),

one side of the fixed shell (26) is fixedly connected with a shell (25), the shell (25) is fixedly connected with the top of the platform (22), a fifth motor is fixedly installed on the inner wall of the shell (25), the output shaft of the fifth motor is fixedly connected with a connecting shaft (34),

the guide frame (11) is U-shaped, one side of the top of the guide frame (11) is fixedly connected with a guide rack (20), the top of the platform (22) is fixedly connected with a first motor (23), an output shaft of the first motor (23) is fixedly connected with an adjusting gear (48), the adjusting gear (48) is meshed with the guide rack (20), two sides of the guide frame (11) are fixedly connected with guide rails, the outer walls of the guide rails are slidably connected with symmetrically distributed slotting blocks (21), the slotting blocks (21) are fixedly connected with the bottom of the platform (22), one side of the platform (22) is fixedly connected with a crawler (24), and the other end of the crawler (24) is fixedly connected with the inner wall of the guide frame (11),

the movable seat (2) is rotatably connected with a plurality of groups of walking shafts distributed at equal intervals, the outer wall of each walking shaft is fixedly sleeved with a moving wheel (12), the top of the transverse frame (1) is fixedly connected with a sixth motor, the output shaft of the sixth motor is fixedly connected with a transmission shaft (14), the outer wall of the transmission shaft (14) is fixedly sleeved with a driving gear (15), the bottom of the driving gear (15) is engaged with a driven gear (13), and the inner wall of the driven gear (13) is fixedly sleeved with the walking shafts,

the two groups of side plates (5) are hinged with symmetrically distributed rotating rods (6) on the sides far away from each other, the bottom of each rotating rod (6) is hinged with a connecting rod (7), the other end of each connecting rod (7) is hinged with a vertical plate (9), the top of one side, close to each other, of each vertical plate (9) is fixedly connected with a lap joint rod (8),

the supporting legs (16) are symmetrically distributed on two sides of the top of the rotating rod (6), the supporting legs (16) are fixedly connected with the side plates (5) through bolts, a limiting pin (17) is arranged between the two groups of supporting legs (16), the rotating rod (6) is hinged with the supporting legs (16) through the limiting pin (17), a connecting piece (19) is hinged between the rotating rod (6) and the connecting rod (7), a fixing rod (18) fixedly connected with the side plates (5) is abutted to one side, close to the side plates (5), of the lap joint rod (8), an air cylinder (10) which is obliquely arranged is arranged below the lap joint rod (8), the air cylinder (10) is obliquely arranged, and a driving end of the air cylinder (10) is hinged with the lap joint rod (8),

one side fixedly connected with third motor (46) of base (47), and the output shaft and rocking arm (43) fixed connection of third motor (46), swing arm (44) one side fixedly connected with second motor (45), and the output shaft and rocking arm (43) fixed connection of second motor (45).