Robot for alternate carrying of materials and using method of robot

Abstract

The invention relates to a robot for alternate carrying of materials and a using method thereof.The robot comprises a supporting arm hinged to a support, sliding blocks located on the two sides of a hinge shaft and slidably connected into the supporting arm in the transverse direction and vertical arms hinged to the sliding blocks, and pneumatic clamping claws are installed at the bottom ends of the vertical arms; a feeding conveying belt for forward conveying is arranged at the right lower end of the hinge shaft, and a driving structure for driving the supporting arm to rotate is further arranged on the support. Through the arrangement of the robot located at the right upper ends of the feeding conveying belt and the loading conveying belt, the site space is saved, rotation of the supporting arm drives the two pneumatic clamping claws to move back and forth, it is guaranteed that when one pneumatic clamping claw grabs materials, the other pneumatic clamping claw puts down the materials, the alternating time is fully utilized, and the working efficiency is improved. Meanwhile, it is guaranteed that the materials are grabbed and put down alternately left and right, and therefore alternate feeding of the materials is guaranteed; and through the arrangement of the sliding block, the sliding block slides back and forth by virtue of gravity during moving, so that the arrangement of a power mechanism is reduced, and the structure is simplified.

Description

Technical Field

[0001] The present invention relates to the field of robots, and in particular to the field of robot handling technology, specifically to a robot for alternating material handling and a method of using the robot. Background Art

[0002] With the development of modern industry, in order to reduce the workload of workers, the field of material handling technology continues to develop, and it is becoming more and more common for machines to replace manual labor in material handling.

[0003] In automated logistics and production lines, material transfer efficiency directly impacts the overall performance of the system. Traditional handling solutions often utilize dual robotic arms or multiple independent devices to process materials on either side, before converging them onto a central transmission line. This type of design has significant drawbacks: Equipment redundancy: Multiple power systems and control systems are required, resulting in high hardware costs and large space requirements; Complex coordination: Multiple devices must precisely coordinate their timing to avoid collisions or feed interruptions, resulting in complex control logic; Efficiency bottlenecks: Long idle waiting times for the robotic arms during alternating operations, resulting in poor material flow continuity.

[0004] Although the existing single-robot solution can reduce costs, it is limited by the working range and path planning, making it difficult to achieve high-frequency, conflict-free alternating delivery of materials on both sides. Especially when the material spacing is large or the delivery rhythm requirements are strict, it is easy to cause the conveyor belt to be empty or materials to accumulate. Therefore, there is an urgent need for a robot for alternating material handling. Summary of the Invention

[0005] In view of the deficiencies in the prior art, the present invention provides a robot for alternately transporting materials and a method of using the robot to ensure alternate loading of materials.

[0006] The present invention is achieved through the following technical solution: a robot for alternating material handling, comprising a support arm connected to a bracket via an articulated shaft, sliders located on both sides of the articulated shaft and slidingly connected to the support arm along the horizontal direction, and a vertical arm articulated to the slider, a pneumatic clamp installed at the bottom end of the vertical arm, a loading conveyor belt for forward transmission is provided at the lower end of the articulated shaft, and feed conveyor belts for backward transmission of materials are provided on both sides of the loading conveyor belt, the two feed conveyor belts transport different materials, and a driving structure for driving the support arm to rotate is also provided on the bracket.

[0007] When the present invention is in use, the setting of the robot located at the upper end of the feeding conveyor belt and the loading conveyor belt saves site space. At the same time, the rotation of the support arm drives the two pneumatic clamps to move back and forth, ensuring that one pneumatic clamp grabs the material while the other pneumatic clamp puts down the material, making full use of the alternation time, and also ensuring the left and right alternating grabbing and putting down of the material, thereby ensuring the alternating loading of the material; through the setting of the slider, the slider relies on gravity to slide back and forth when moving, thereby reducing the setting of the power mechanism and simplifying the structure.

[0008] Preferably, a sliding groove for the slider to slide is provided in the support arm, and buffer blocks are provided in the sliding groove and are located on both sides of the slider and arranged laterally. The end of the buffer block away from the slider is fixed with a spring extending laterally, and the other end of the spring is fixed to the inner wall of the sliding groove.

[0009] This preferred solution achieves a buffering effect through the provision of a buffer block and a spring.

[0010] Preferably, the bottom surface of the support arm is provided with limit blocks located on both sides of the vertical arm, and the two limit blocks are arranged in a transverse direction. When the limit blocks are in contact with the support arm, the limit blocks are arranged parallel to the vertical arm.

[0011] This preferred solution provides a limit block to play a buffering role while limiting the vertical arm from moving further.

[0012] Preferably, the driving structure includes a main cylinder whose protruding end extends downward and is hinged to the support arm, the top end of the main cylinder is hinged to the bracket, and the toggle switches of the two pneumatic clamps are connected to the main cylinder through a linkage structure.

[0013] This preferred solution uses the arrangement of a main cylinder and a linkage structure so that when the main cylinder contracts and extends, it drives the two pneumatic grippers to respectively grab and put down the material.

[0014] Preferably, the linkage structure includes two cylinders with inner cavities, two first pistons are sealingly and slidingly connected in the cylinders, a connecting rod connecting the two first pistons is provided between the two first pistons, the end faces of the two pistons away from the connecting rod are connected to first plug rods sealingly and slidingly connected in the cylinders, a limit plate located outside the cylinders and having a larger diameter than the first plug rod is fixedly connected to the first plug rod, a toggle switch is provided between the two first pistons, the toggle switch extends to the outside of the cylinders, an air inlet and an air outlet are provided on the cylinders, the rod cavity of the master cylinder is connected to a first air pipe, the rodless cavity is connected to a second air pipe, the first air pipe is connected to the air inlet of one cylinder and the air outlet of the other cylinder, and the second air pipe is connected to the air outlet of one cylinder and the air inlet of the other cylinder. This preferred solution facilitates the linkage between the master cylinder and the two pneumatic clamps.

[0015] Preferably, the end surfaces of the buffer blocks connected to the springs on the left side of the left slide and on the right side of the right slide are also connected to trigger rods extending laterally and extending to the outside of the support arm. The bracket is provided with a button switch located below the hinge shaft and cooperating with the trigger rod, and the button switch is electrically connected to the solenoid valve of the master cylinder.

[0016] This preferred solution uses a trigger rod to extend or retract the cylinder when the trigger rod touches the button switch, so that the timing of the cylinder action matches the timing of the pneumatic clamp grabbing into place.

[0017] Preferably, the height of the loading conveyor belt is higher than the feeding conveyor belt. When this preferred solution is in use, since the material dropping position is higher than the material grabbing position, the height of the loading conveyor belt is higher than the feeding conveyor belt, reducing the kinetic energy of the material when it falls.

[0018] A method for using a robot for alternating material handling comprises the following steps: a. The cylinder extends, driving the support arm to rotate, causing the left side of the support arm to move downward, the support arm to tilt, and the two sliders to slide to the left. After the cylinder extends a certain length, the support arm tilts a certain angle. At this time, the slider moves along the slide to the left side of the slide. When the left and right sliders hit the buffer block, they are buffered by the buffer block and the spring. At the same time, the vertical arm contacts the limit block, and the limit block restricts the vertical arm from continuing to move to the left. The pneumatic gripper on the left is located just above the feed conveyor belt, and the pneumatic gripper on the right is located just above the loading conveyor belt. b. At the same time, the left slider pushes the buffer block to the left, and the contact rod connected to the buffer block moves to trigger the button switch. At this time, air is taken into the rod chamber, ready to drive the cylinder to contract. The gas in the rod chamber flows along the first air pipe into the air intake chamber of a cylinder body, pushing the two first pistons to move toward the air outlet. The movement of the first piston in the air intake chamber drives the toggle button to rotate, thereby triggering the left pneumatic gripper to grab the material; At the same time, the gas in the rod chamber flows along the first air pipe into the air outlet chamber of the other cylinder body, pushing the two first pistons to move toward the air inlet. When the first piston in the air outlet chamber moves, it drives the toggle button to rotate, thereby triggering the right pneumatic gripper to put down the material, and the material falls onto the feeding conveyor belt. c. Continue to supply air into the rod chamber. At this time, the limiting plate limits the first piston to stop moving. The piston rod of the main cylinder contracts, driving the support arm to tilt to the right. The two sliders slide to the right. After the cylinder contracts to a certain length, the support arm tilts to the right at a certain angle. At this time, the slider moves along the slide to the right side of the slide. At this time, the pneumatic gripper on the right side is located at the upper end of the feed conveyor, and the pneumatic gripper on the left side is located at the upper end of the loading conveyor. d. At the same time, the right slider pushes the buffer block to move to the right, and the contact rod connected to the buffer block moves to the right to trigger the button switch. At this time, air is taken into the rodless chamber, ready to drive the cylinder to extend. The gas in the rodless chamber enters the air intake chamber of the other cylinder along the second air pipe, pushing the two first pistons to move toward the air outlet. The movement of the first piston in the air outlet chamber drives the toggle button to rotate, thereby triggering the right pneumatic gripper to grab the material; At the same time, the gas in the rodless chamber flows along the second air pipe into the air outlet chamber of a cylinder body, pushing the two first pistons to move toward the air outlet. When the first piston in the air outlet chamber moves, it drives the toggle button to rotate, thereby triggering the pneumatic gripper on the left side, causing the pneumatic gripper on the left side to put down the material, and the material falls onto the feeding conveyor belt; e. Repeat this process to achieve alternating loading.

[0019] The beneficial effects of the present invention are as follows: by setting up a robot located just above the feed conveyor and the loading conveyor, site space is saved, and at the same time, the rotation of the support arm drives the two pneumatic clamps to move back and forth, ensuring that when one pneumatic clamp grabs the material, the other pneumatic clamp puts down the material, making full use of the alternation time, and also ensuring the left and right alternating grabbing and putting down of the material, thereby ensuring the alternating loading of the material; by setting up the slider, the slider relies on gravity to slide back and forth when moving, thereby reducing the setting of the power mechanism and simplifying the structure; by setting up the trigger rod, when the trigger rod touches the button switch, the cylinder is extended or retracted, so that the timing of the cylinder action is matched with the timing of the pneumatic clamp being in place. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the structure of the present invention; Figure 2 It is a schematic diagram of the linkage structure of the present invention; As shown in the figure: 1. Support arm, 2. Cylinder, 3. Slide, 4. Articulated shaft, 5. Slider, 6. Support shaft, 7. Buffer block, 8. Spring, 9. Limit block, 10. Loading conveyor belt, 11. Feed conveyor belt, 12. Pneumatic gripper, 13. Vertical arm, 14. Trigger rod, 15. Push button switch, 16. Cylinder body, 17. First plug rod, 18. Limit plate, 19. Connecting rod, 20. First piston, 21. Toggle switch, 22. Air inlet, 23. Air outlet, 24. First air pipe, 25. Second air pipe. DETAILED DESCRIPTION

[0021] In order to clearly illustrate the technical features of this solution, this solution is described below through specific implementation methods.

[0022] Refer to the attached Figure 1-2The present invention relates to a robot for alternating material handling and a method for using the same. In the prior art, there are two feed conveyor belts 11 and a loading conveyor belt 10 located between the feed conveyor belts 11. The loading conveyor belt 10 conveys materials forward, and the feed conveyor belt 11 conveys materials backward. At the end, there is a U-shaped conveyor belt connecting the loading conveyor belt 10 and the feed conveyor belt 11, and manual loading is performed. This method takes up a lot of space, and manual loading is prone to mixing, making it impossible to achieve alternating loading of the two materials.

[0023] The robot includes a support arm 1 connected to the bracket through an articulated shaft 4, sliders 5 located on both sides of the articulated shaft 4 and slidingly connected to the support arm 1 along the horizontal direction, and a vertical arm 13 hinged on the slider 5. The vertical arm 13 is hinged to the slider 5 through a support shaft 6. A pneumatic clamp 12 is installed at the bottom end of the vertical arm 13. A loading conveyor belt 10 for forward transmission is provided at the lower end of the articulated shaft 4. Feed conveyor belts 11 for backward transmission of materials are provided on both sides of the loading conveyor belt 10. The materials transported by the two feed conveyor belts 11 are different. A driving structure for driving the support arm 1 to rotate is also provided on the bracket. The horizontal direction refers to the left and right direction.

[0024] The support arm 1 is provided with a slide groove 3 for the slider 5 to slide, and the slide groove 3 is provided with buffer blocks 7 located on both sides of the slider 5 and arranged laterally. The end of the buffer block 7 away from the slider 5 is fixedly connected to a spring 8 extending laterally, and the other end of the spring 8 is fixedly connected to the inner wall of the slide groove 3.

[0025] The bottom surface of the support arm 1 is provided with limit blocks 9 located on both sides of the vertical arm 13. The two limit blocks 9 are arranged in a transverse direction. When the limit blocks 9 are in contact with the support arm 1, the limit blocks 9 are arranged parallel to the vertical arm 13.

[0026] The driving structure includes a main cylinder 2 whose protruding end extends downward and is hinged to the support arm 1. The top end of the main cylinder 2 is hinged to the bracket, and the toggle switches of the two pneumatic clamps 12 are connected to the main cylinder 2 through a linkage structure.

[0027] The linkage structure includes two cylinder bodies 16 with inner cavities, two first pistons 20 are sealed and slidably connected in the cylinder bodies 16, and a connecting rod 19 connecting the two first pistons 20 is provided between the two first pistons 20. The end surfaces of the two pistons away from the connecting rod 19 are connected to first plug rods 17 that are sealed and slidably connected in the cylinder bodies 16. The first plug rods 17 are fixedly connected to a limit plate 18 that is located outside the cylinder bodies 16 and has a diameter larger than that of the first plug rods 17. The toggle switch is provided between the two first pistons 20, and the toggle switch extends to the outside of the cylinder bodies 16. The cylinder bodies 16 are provided with an air inlet 22 and an air outlet 23. The rod cavity of the master cylinder 2 is connected to a first air pipe 24, and the rodless cavity is connected to a second air pipe 25. The first air pipe 24 is connected to the air inlet 22 of one cylinder body 16 and the air outlet 23 of the other cylinder body 16, and the second air pipe 25 is connected to the air outlet 23 of one cylinder body 16 and the air inlet 22 of the other cylinder body 16.

[0028] Refer to the attached Figure 2 When the toggle switch 21 is tilted to the left, the pneumatic clamp 12 is open, that is, the material is not grasped. When the toggle switch 21 is tilted to the right, the pneumatic clamp 12 is closed, that is, the material is grasped.

[0029] The end surfaces of the buffer blocks 7 located on the left side of the left slide groove 3 and on the right side of the right slide groove 3 where they are connected to the spring 8 are also connected with a trigger rod 14 extending laterally and extending to the outside of the support arm 1. The bracket is provided with a button switch 15 located below the hinge shaft 4 and cooperating with the trigger rod 14. The button switch 15 is electrically connected to the solenoid valve of the master cylinder 2.

[0030] Since the material dropping position is higher than the material grabbing position, the height of the loading conveyor belt 10 is higher than the feeding conveyor belt 11 to reduce the kinetic energy of the material when it falls. The height of the loading conveyor belt 10 is higher than the feeding conveyor belt 11.

[0031] The cavity where the piston rod of the cylinder 2 is located is a rod cavity, and the other cavity is a rodless cavity. The cavity in the cylinder body 16 connected to the air inlet 22 is the air inlet cavity, and the cavity connected to the air outlet 23 is the air outlet cavity.

[0032] A method for using a robot for alternating material handling comprises the following steps: a. The cylinder 2 extends, driving the support arm 1 to rotate, so that the left side of the support arm 1 moves downward, the support arm 1 tilts, and the two sliders 5 slide to the left. After the cylinder 2 extends a certain length, the support arm 1 tilts a certain angle. At this time, the slider 5 moves along the slide 3 to the left side of the slide 3. When the left slider 5 and the right slider 5 hit the buffer block 7, they are buffered by the buffer block 7 and the spring 8. At the same time, the vertical arm 13 contacts the limit block 9, and the limit block 9 limits the vertical arm 13 from continuing to move to the left. The pneumatic clamp 12 on the left is located at the upper end of the feed conveyor 11, and the pneumatic clamp 12 on the right is located at the upper end of the loading conveyor 10. b. Simultaneously, the left slider 5 pushes the buffer block 7 to the left, and the contact rod connected to the buffer block 7 moves to trigger the button switch 15. At this time, air is taken into the rod chamber, ready to drive the cylinder 2 to contract. The gas in the rod chamber flows along the first air pipe 24 into the air inlet chamber of a cylinder body 16, pushing the two first pistons 20 to move toward the air outlet 23. The movement of the first pistons 20 in the air inlet chamber drives the toggle button to rotate, thereby triggering the left pneumatic gripper 12, causing the left pneumatic gripper 12 to grab the material; At the same time, the gas in the rod chamber flows along the first air pipe 24 into the air outlet chamber of the other cylinder 16, pushing the two first pistons 20 to move toward the air inlet 22. The movement of the first pistons 20 in the air outlet chamber drives the toggle button to rotate, thereby triggering the right pneumatic gripper 12, causing the right pneumatic gripper 12 to drop the material, and the material falls onto the loading conveyor 10; c. Continue to supply air into the rod chamber. At this time, due to the limiting effect of the limiting plate 18, the first piston 20 stops moving, the piston rod of the main cylinder 2 contracts, driving the support arm 1 to tilt to the right, and the two sliders 5 slide to the right. After the cylinder 2 contracts to a certain length, the support arm 1 tilts to the right at a certain angle. At this time, the slider 5 moves along the chute 3 to the right side of the chute 3. At this time, the right pneumatic gripper 12 is located at the upper end of the feed conveyor 11, and the left pneumatic gripper 12 is located at the upper end of the loading conveyor 10; d. At the same time, the right slider 5 pushes the buffer block 7 to move right, and the contact rod connected to the buffer block 7 moves right to trigger the button switch 15. At this time, air is taken into the rodless chamber, ready to drive the cylinder 2 to extend. The gas in the rodless chamber enters the air inlet chamber of the other cylinder body 16 along the second air pipe 25, pushing the two first pistons 20 to move toward the air outlet 23. The movement of the first piston 20 in the air outlet chamber drives the toggle button to rotate, thereby triggering the right pneumatic gripper 12, causing the right pneumatic gripper 12 to grab the material; At the same time, the gas in the rodless chamber flows along the second air pipe 25 into the air outlet chamber of a cylinder body 16, pushing the two first pistons 20 to move toward the air outlet 23. When the first pistons 20 in the air outlet chamber move, the toggle button rotates, thereby triggering the left pneumatic gripper 12, causing the left pneumatic gripper 12 to drop the material, and the material falls onto the loading conveyor 10; e. Repeat this process to achieve alternating loading.

[0033] Of course, the above description is not limited to the above examples. Technical features not described in the present invention can be achieved by or by adopting existing technologies, which will not be described here. The above embodiments and drawings are only used to illustrate the technical solutions of the present invention and are not limitations of the present invention. The present invention is described in detail with reference to the preferred implementation methods. Ordinary technicians in this field should understand that changes, modifications, additions or substitutions made by ordinary technicians in this technical field within the essential scope of the present invention do not depart from the purpose of the present invention and should also fall within the scope of protection of the claims of the present invention.

Claims

1. A robot for alternating material handling, characterized in that: The invention comprises a support arm (1) connected to a bracket through a hinge shaft (4), a slider (5) located on both sides of the hinge shaft (4) and slidingly connected to the support arm (1) in a transverse direction, and a vertical arm (13) hinged to the slider (5), wherein a pneumatic gripper (12) is installed at the bottom end of the vertical arm (13), a forward-transmitting loading conveyor belt (10) is provided at the lower end of the hinge shaft (4), and a feed conveyor belt (11) for transmitting materials backward is provided on both sides of the loading conveyor belt (10), and the materials transmitted by the two feed conveyor belts (11) are different. The bracket is also provided with a driving structure for driving the support arm (1) to rotate.

2. The robot for alternating material handling according to claim 1, characterized in that: A slide groove (3) for the slider (5) to slide is provided in the support arm (1), and buffer blocks (7) are provided in the slide groove (3) and are located on both sides of the slider (5) and arranged laterally. One end of the buffer block (7) away from the slider (5) is fixedly connected to a spring (8) extending laterally, and the other end of the spring (8) is fixedly connected to the inner wall of the slide groove (3).

3. The robot for alternating material handling according to claim 2, characterized in that: The bottom surface of the support arm (1) is provided with limit blocks (9) located on both sides of the vertical arm (13), and the two limit blocks (9) are arranged in a transverse direction. When the limit blocks (9) and the support arm (1) are in contact, the limit blocks (9) and the vertical arm (13) are arranged in parallel.

4. The robot for alternating material handling according to claim 3, characterized in that: The driving structure comprises a main cylinder (2) whose protruding end extends downward and is hinged to the support arm (1); the top end of the main cylinder (2) is hinged to the bracket; and the toggle switches (21) of the two pneumatic grippers (12) are connected to the main cylinder (2) via a linkage structure.

5. The robot for alternating material handling according to claim 4, characterized in that: The linkage structure comprises two cylinder bodies (16) with inner cavities, two first pistons (20) are sealingly and slidably connected in the cylinder bodies (16), a connecting rod (19) is provided between the two first pistons (20) to connect the two first pistons (20), the end surfaces of the two pistons away from the connecting rod (19) are connected to a first plug rod (17) sealingly and slidably connected in the cylinder bodies (16), a limiting plate (18) located outside the cylinder bodies (16) and having a diameter larger than that of the first plug rod (17) is fixedly connected to the first plug rod (17), and the toggle mechanism is provided between the two first pistons (20). The switch (21) extends to the outside of the cylinder body (16), and the cylinder body (16) is provided with an air inlet (22) and an air outlet (23). The rod chamber of the master cylinder (2) is connected to a first air pipe (24), and the rodless chamber is connected to a second air pipe (25). The first air pipe (24) is connected to the air inlet (22) of one cylinder body (16) and the air outlet (23) of another cylinder body (16), and the second air pipe (25) is connected to the air outlet (23) of one cylinder body (16) and the air inlet (22) of another cylinder body (16).

6. The robot for alternating material handling according to claim 5, characterized in that: The end surfaces of the buffer blocks (7) located on the left side of the left chute (3) and on the right side of the right chute (3) connected to the spring (8) are also connected to a trigger rod (14) extending laterally and extending to the outside of the support arm (1). The bracket is provided with a button switch (15) located below the hinge shaft (4) and cooperating with the trigger rod (14). The button switch (15) is electrically connected to the solenoid valve of the main cylinder (2).

7. The robot for alternating material handling according to claim 1, characterized in that: The height of the loading conveyor belt (10) is higher than that of the feeding conveyor belt (11).

8. The method for using the robot for alternating material handling according to claim 6, characterized in that: The following steps are involved: a. The cylinder (2) extends, driving the support arm (1) to rotate, causing the left side of the support arm (1) to move downward, the support arm (1) to tilt, and the two sliders (5) to slide to the left. After the cylinder (2) extends a certain length, the support arm (1) tilts a certain angle. At this time, the slider (5) moves along the slide groove (3) to the left side of the slide groove (3). When the left slider (5) and the right slider (5) hit the buffer block (7), they are buffered by the buffer block (7) and the spring (8). At the same time, the vertical arm (13) contacts the limit block (9). The limit block (9) limits the vertical arm (13) from continuing to move to the left. The left pneumatic gripper (12) is located at the upper end of the feed conveyor (11), and the right pneumatic gripper (12) is located at the upper end of the loading conveyor (10); b. At the same time, the left slider (5) pushes the buffer block (7) to move to the left, and the contact rod connected to the buffer block (7) moves to trigger the button switch (15). At this time, air is taken into the rod chamber, ready to drive the cylinder (2) to contract. The gas in the rod chamber enters the air inlet chamber of a cylinder body (16) along the first air pipe (24), and then pushes the two first pistons (20) to move toward the air outlet (23). When the first piston (20) in the air inlet chamber moves, it drives the toggle button to rotate, thereby triggering the left pneumatic gripper (12), so that the left pneumatic gripper (12) grabs the material; At the same time, the gas in the rod chamber flows along the first air pipe (24) into the air outlet chamber of the other cylinder (16), pushing the two first pistons (20) to move toward the air inlet (22). When the first piston (20) in the air outlet chamber moves, the toggle button is driven to rotate, thereby triggering the right pneumatic gripper (12), causing the right pneumatic gripper (12) to put down the material, and the material falls onto the feeding conveyor (10); c. Continue to feed air into the rod chamber. At this time, due to the limiting effect of the limiting plate (18), the first piston (20) stops moving, the piston rod of the main cylinder (2) contracts, driving the support arm (1) to tilt to the right, and the two sliders (5) slide to the right. After the cylinder (2) contracts to a certain length, the support arm (1) tilts to the right at a certain angle. At this time, the slider (5) moves along the slide (3) to the right side of the slide (3). At this time, the pneumatic gripper (12) on the right side is located at the upper end of the feed conveyor (11), and the pneumatic gripper (12) on the left side is located at the upper end of the loading conveyor (10); d. At the same time, the right slider (5) pushes the buffer block (7) to move to the right, and the contact rod connected to the buffer block (7) moves to the right to trigger the button switch (15). At this time, the rodless chamber is filled with air, ready to drive the cylinder (2) to extend. The gas in the rodless chamber enters the air inlet chamber of the other cylinder body (16) along the second air pipe (25), and then pushes the two first pistons (20) to move toward the air outlet (23). When the first piston (20) in the air outlet chamber moves, it drives the toggle button to rotate, thereby triggering the right pneumatic gripper (12), so that the right pneumatic gripper (12) grabs the material; At the same time, the gas in the rodless chamber flows along the second air pipe (25) into the air outlet chamber of a cylinder (16), pushing the two first pistons (20) to move toward the air outlet (23). When the first piston (20) in the air outlet chamber moves, the toggle button is driven to rotate, thereby triggering the left pneumatic gripper (12), causing the left pneumatic gripper (12) to put down the material, and the material falls onto the feeding conveyor (10); e. Repeat this process to achieve alternating loading.

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