Waterwheel type feeding and discharging mechanism

Abstract

This invention provides a loading and unloading mechanism for a waterwheel-type special-purpose machine, belonging to the field of machine tool equipment technology. It solves the problem of inconvenience in replacing internal components of the special-purpose machine through the window while automatically loading and unloading. The waterwheel-type special-purpose machine includes a housing with a window on the front. This loading and unloading mechanism includes a truss manipulator, which includes a vertical beam, a horizontal beam that can move along the vertical beam, and a pneumatic gripper assembly that can move along the horizontal beam. A mounting plate is provided on the outer side of the front of the housing. The lower end of the mounting plate is detachably connected to the housing below the window. The vertical beam is fixedly connected to the mounting plate. One end of the horizontal beam extends into the housing through the window. A mating plate is connected to the housing below the window. One side of the mating plate is hinged to one side of the mounting plate. After being disconnected from the housing, the mounting plate can be flipped around the hinge point, causing the end of the horizontal beam extending into the housing to flip out through the window. The flipped mounting plate can then be positioned with the mating plate. It has advantages such as easier replacement of internal components and convenient transportation.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of machine tool equipment, and relates to a feeding and discharging mechanism of a waterwheel type special machine. BACKGROUND

[0002] Valves are mainly used for cutting off, throttling, pressure regulating and changing flow direction of pipeline medium, and are essential components in modern industry, agriculture, chemical industry and daily life. The valve body has multiple processes (such as drilling, tapping and turning inner and outer circles) during machining. In order to improve production efficiency, the machining of the valve is generally completed by using a waterwheel type special machine. The waterwheel type special machine generally includes a machine shell provided with a window (the window facilitates feeding and discharging) on the front side, a rotating shaft arranged in the machine shell along the left-right direction, a rotating disc fixed on the rotating shaft, and a plurality of machining power heads fixed on the machine shell. A plurality of clamps are arranged on the edge of the rotating disc, and the machining power heads are arranged on the left and right sides, the upper side and the rear side of the rotating disc. In use, the valve body blank is clamped and fixed by the clamps, and then stays at the positions of the machining power heads after rotating with the rotating disc, and the machining processes required for the valve body blank are completed by the machining power heads.

[0003] Further, in order to reduce the working intensity of workers and ensure the production efficiency, some people began to use joint robots to replace manual work to complete automatic feeding and discharging, such as a waterwheel type air valve special machine disclosed in patent application No. 201921424812.3. The joint robot is installed on the front side of the machine shell, and generally, in order to ensure the stability of use, the joint robot is directly fixed to the ground. After a long time of machining or when the objects to be machined are different, the tools on the power heads or even the clamps need to be replaced. Since the machine shell is closed except for the window, the tools on most of the power heads located on the two sides are directly replaced from the window, but the presence of the joint robot occupies the space in front of the machine shell, making it very inconvenient for the workers to replace the tools or clamps from the window (since the joint robot is very heavy, it is difficult to operate by removing the fasteners and moving the joint robot away).

[0004] In view of this situation, the person skilled in the art easily thinks of setting a slide rail on the ground and connecting the joint robot to the slide rail, fixing the joint robot to the slide rail during normal work, and releasing the fixation of the joint robot and the slide rail and sliding the joint robot along the slide rail to leave out the position in front of the machine shell when the tools need to be replaced. SUMMARY

[0005] The present application aims at the above-mentioned problems existing in the prior art, and provides a feeding and discharging mechanism of a waterwheel type special machine, which solves the problem of inconvenience in replacing the internal components of the special machine from the window while automatically feeding and discharging.

[0006] The objective of this invention can be achieved through the following technical solutions:

[0007] The loading and unloading mechanism of a waterwheel-type special machine includes a housing with a window on the front side. The loading and unloading mechanism includes a truss manipulator, which includes a vertical beam, a horizontal beam that can move along the vertical beam, and a pneumatic gripper assembly that can move along the horizontal beam. The key feature is that a mounting plate is provided on the outer side of the front side of the housing. The lower end of the mounting plate is detachably connected to the housing below the window. The vertical beam is fixedly connected to the mounting plate. One end of the horizontal beam extends into the housing from the window. A mating plate is connected to the housing below the window. One side of the mating plate is hinged to one side of the mounting plate. After the mounting plate is disconnected from the housing, it can be flipped around the hinge point so that the end of the horizontal beam that extends into the housing flips out from the window. The flipped mounting plate can be positioned with the mating plate.

[0008] Under normal conditions, the mounting plate is connected to the housing, and the gantry robot handles the loading and unloading of workpieces. Although the mounting plate is hinged to the mating plate, it does not flip. The gantry robot's vertical beam is fixedly connected to the mounting plate, which is attached to the front of the housing below the window, making the gantry robot and housing integrated. This facilitates transportation and eliminates the need for further adjustments after leaving the factory. When a tool change is required, the operator simply disconnects the mounting plate from the housing, then flips the mounting plate around the hinge point. This causes one end of the gantry robot's crossbeam, which extends into the housing, to flip out through the window and position itself against the mating plate. This ensures that the gantry robot does not obstruct the operator's tool or fixture changes from the housing window, guaranteeing convenient component replacement from this location.

[0009] In the loading and unloading mechanism of the waterwheel-type special machine mentioned above, the mating plate and the machine housing are slidably connected in the horizontal direction. The mating plate can slide to move the flipped mounting plate away from the connection position between the machine housing and the mounting plate.

[0010] After the mounting plate is disconnected from the housing and flipped around the hinge point so that one end of the crossbeam extending into the housing flips out from the window, the mounting plate is slid away from the connection position between the housing and the mounting plate by sliding the mating plate. This allows the position of the window on the housing to be fully cleared as much as possible, further improving the convenience of replacing parts from the window.

[0011] In the loading and unloading mechanism of the waterwheel-type special machine mentioned above, a slide rail is fixed horizontally below the window on the front side of the machine housing, and a slider connected to the slide rail is fixed on the rear side of the mating plate. The loading and unloading mechanism also includes a positioning structure that can position the mating plate after the mating plate slides and the flipped mounting plate moves away from the connection position between the machine housing and the mounting plate.

[0012] By setting up a positioning structure, the mounting plate is positioned after the sliding mating plate moves away from the connection position between the machine housing and the mounting plate. This ensures that the mating plate cannot slide again during tool changing, thus eliminating the need for operators to hold the mating plate in place when changing tools, further improving the convenience of replacing parts.

[0013] In the loading and unloading mechanism of the waterwheel-type special machine mentioned above, a limiting plate is fixed on the front side of the machine housing. A through hole is provided on the upper edge of the limiting plate. The positioning structure includes a locking hole on the side of the mating plate facing away from the hinge point with the mounting plate, and a locking screw that can pass through the through hole and be threaded into the locking hole.

[0014] After the mating plate slides into place, allowing the gantry robot to fully clear the window area of ​​the housing, a locking screw is installed on the limit plate. The shank of the locking screw passes through the through hole and is threaded into the locking hole, thus positioning the mating plate after it has slid into place. This ensures that the mating plate will not slide back when replacing parts.

[0015] In the loading and unloading mechanism of the aforementioned waterwheel-type special machine, as another technical solution, the positioning structure includes a positioning hole on the slide rail, a straight hole on the slider, a mounting hole on the mating plate, and a set screw that allows the rod to pass through the mounting hole and the straight hole in sequence and be threaded into the positioning hole when the straight hole and the positioning hole are opposite each other.

[0016] After the mating plate slides into place, allowing the gantry robot to fully clear the window area of ​​the housing, set screws are inserted into the mating plate. The shanks of the set screws pass through the mounting holes and straight holes in sequence and are then threaded into the positioning holes. This ensures that the mating plate, slider, and slide rail are fixed together, preventing the mating plate from sliding back when replacing parts.

[0017] In the loading and unloading mechanism of the aforementioned waterwheel-type special machine, the front side of the machine casing has two parallel support bars along the horizontal direction. The cross-section of the two support bars is L-shaped. The vertical part of the upper support bar faces upward and the vertical part of the lower support bar faces downward. The rear side of the mating plate is fixed with two support blocks, both with L-shaped cross-sections along the direction perpendicular to the support bars. The vertical parts of the two support blocks face opposite directions. The support block with its vertical part facing downward hooks onto the vertical part of the upper support bar, and the support block with its vertical part facing upward hooks onto the vertical part of the lower support bar.

[0018] The support blocks with their vertical sections facing downwards hook onto the vertical sections of the upper support bars, and the support blocks with their vertical sections facing downwards hook onto the vertical sections of the lower support bars. This ensures that the mating plate remains firmly perpendicular to the horizontal, thus preventing the mating plate from deforming due to the weight of the entire truss robot after the mounting plate is flipped and positioned.

[0019] In the loading and unloading mechanism of the waterwheel-type special machine mentioned above, there is a positioning block on the front side of the mating plate near the hinge position between the mating plate and the mounting plate. The positioning block is provided with a slot that passes through its front side and the side wall near the mounting plate. The front side of the mounting plate has a plug that can be inserted into the slot after it is flipped around the hinge point. When the plug abuts against the bottom wall of the slot, the crossbeam is in a state that is approximately parallel to the mating plate. The plug and the positioning block can be positioned by a pin.

[0020] After the mounting plate is flipped, the insert block will be inserted into the slot. Then, the pin will pass vertically through the insert block and the positioning block to position the mounting plate and the mating plate. By setting the insert block to abut against the bottom wall of the slot, the crossbeam is in a state that is approximately parallel to the mating plate, so that the other end of the crossbeam will not interfere with the housing when the mounting plate is flipped.

[0021] In the loading and unloading mechanism of the waterwheel-type special machine mentioned above, the machine housing includes a body with the aforementioned window and a base plate fixed to the body by fastening screws and located below the window. The slide rail and support bar are both fixedly connected to the base plate. The limiting plate is fixedly connected to one end of the base plate in the horizontal direction. The mating plate and the mounting plate are both connected to the base plate and are parallel to the base plate.

[0022] The slide rails, support bars, mating plates, mounting plates, and limit plates are all connected to the base plate, making the loading and unloading mechanism a complete module. This allows for easy installation and disassembly, enabling users to change the loading method according to their needs. When automatic loading is not required, simply remove the screws securing the base plate to the main body to completely detach the entire loading and unloading mechanism from the main body. The same applies during installation.

[0023] In the loading and unloading mechanism of the aforementioned waterwheel-type special machine, the mounting plate includes a main body and a secondary plate that is fixedly connected to the lower end of the main body and hinged to the mating plate. The lower rear side of the vertical body has a right-angle notch, the secondary plate is partially inserted into the right-angle notch, and the secondary plate and the main body are fixed together by fasteners. The rear side of the main body has reinforcing ribs arranged along its length, and the lower end of the reinforcing ribs abuts against the upper side of the secondary plate.

[0024] The above design increases the overall strength of the mounting plate, enabling it to better withstand the overall weight of the truss robot and ensuring the reliability of the structure.

[0025] In the loading and unloading mechanism of the aforementioned waterwheel-type special machine, the rear side of the sub-plate has two parallel protrusions that are both strip-shaped. One protrusion abuts against the vertical part of the upper support bar, and the other protrusion abuts against the vertical part of the lower support bar. The mounting plate and the machine housing are connected by mounting screws that pass through the sub-plate and are threaded into the support bar via rods.

[0026] The mounting plate and the housing are connected by mounting screws that pass through the sub-plate and are threaded into the support bar, thus achieving a detachable connection between the mounting plate and the housing. Simultaneously, the fit between the sub-plate and the support bar is further strengthened by one protrusion abutting against the vertical portion of the upper support bar and the other protrusion abutting against the vertical portion of the lower support bar.

[0027] Compared with existing technologies, the loading and unloading mechanism of this waterwheel-type special machine has the following advantages:

[0028] 1. A gantry robot is used, and the vertical beam of the gantry robot is fixedly connected to the mounting plate to ensure the stability of automatic loading and unloading. The gantry robot and the machine housing are integrated together, which is very convenient for transportation and does not require additional debugging after leaving the factory.

[0029] 2. The mounting plate and the mating plate are hinged together, and the mounting plate can be flipped around the hinge point after being disconnected from the housing. This allows the end of the gantry robot's crossbeam that extends into the housing to flip out through the window and be positioned with the mating plate after the mounting plate is flipped. In this way, the gantry robot will not obstruct the operator when changing tools or fixtures through the window of the housing, ensuring the convenience of changing parts through the window.

[0030] 3. The mating plate and the housing slide together horizontally. By sliding the mating plate, the flipped mounting plate is moved away from the connection position between the housing and the mounting plate. This allows the window area of ​​the housing to be fully exposed as much as possible, further improving the convenience of replacing parts through the window. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the loading and unloading mechanism in normal use on a special machine.

[0032] Figure 2 This is a three-dimensional schematic diagram of the loading and unloading mechanism in normal use.

[0033] Figure 3 This is a three-dimensional schematic diagram of the loading and unloading mechanism under normal use from another angle.

[0034] Figure 4 This is a front view of the loading and unloading mechanism in normal use.

[0035] Figure 5 yes Figure 4 Sectional view along the AA direction.

[0036] Figure 6 yes Figure 4 Sectional view along the BB direction.

[0037] Figure 7This is a schematic diagram of a waterwheel-type special machine after the mounting plate has been flipped and positioned with the mating plate.

[0038] Figure 8 yes Figure 7 A magnified view of a portion of point A in the middle.

[0039] Figure 9 This is a front view of the waterwheel-type special machine after the mounting plate has been flipped over and positioned with the mating plate.

[0040] Figure 10 This is a front view of the waterwheel-type special machine after the mounting plate has slid away from its connection position with the machine casing.

[0041] Figure 11 This is a three-dimensional schematic diagram of the loading and unloading mechanism sliding on the mating plate and then positioning itself after sliding.

[0042] In the diagram, 1. Housing; 1a. Body; 1a1. Window; 1b. Base plate; 2. Truss manipulator; 2a. Vertical beam; 2b. Horizontal beam; 2c. Pneumatic gripper assembly; 2c1. Mounting base; 2c2. Movable frame; 2c3. Connecting plate; 2c4. Two-finger gripper; 2d. Slide table one; 2e. Connecting base; 2f. Slide table two; 3. Mounting plate; 3a. Main body; 3a1. Reinforcing rib; 3b. Sub-plate; 3b1. Protrusion; 4. Mating plate; 5. Slide rail; 6. Slider; 7. Limiting plate; 7a. Through hole; 8. Locking screw; 9. Support bar; 10. Support block; 11. Positioning block; 11a. Slot; 12. Insertion block; 13. Pin; 14. Mounting screw; 15. Positioning plate; 16. Positioning screw. Detailed Implementation

[0043] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments.

[0044] Example 1

[0045] like Figure 1 and Figure 2As shown, the loading and unloading mechanism of the waterwheel-type special machine includes a housing 1 with a window 1a1 on the front, a turntable rotatably disposed inside the housing 1, and clamps evenly distributed on the edge of the turntable. This loading and unloading mechanism includes a gantry robot 2, which includes a vertical beam 2a, a horizontal beam 2b connected to and movable along the vertical beam 2a, and a pneumatic gripper assembly 2c connected to and movable along the horizontal beam 2b. One end of the horizontal beam 2b extends into the housing 1 through the window 1a1. The pneumatic gripper assembly 2c can move along the horizontal beam 2b into the housing 1 and is located on one side of the clamps directly opposite the window 1a1. The vertical beam 2a is provided with a slide 2d, and the horizontal beam 2b is fixed with a connecting seat 2e that is fixedly connected to the slide 2d. The lower side of the horizontal beam 2b is provided with a slide 2f. The pneumatic gripper assembly 2c includes a mounting base 2c1 fixedly connected to the slide 2f, a movable frame 2c2 hinged to the rear end of the mounting base 2c1, and two two-finger grippers 2c4. Two connecting plates 2c3 are fixed on the movable frame 2c2. The two connecting plates 2c3 are perpendicular to each other, and the two two-finger grippers 2c4 are respectively fixed on the two connecting plates 2c3. The movable frame 2c2 can swing around the hinge point so that one of the two-finger grippers 2c4 faces upward while the other two-finger gripper 2c4 faces backward, or the movable frame 2c2 can swing around the hinge point so that the upward two-finger gripper 2c4 switches to facing backward while the other backward two-finger gripper 2c4 switches to facing downward. By configuring the pneumatic gripper assembly 2c in such a structure, the gantry robot 2 can perform automatic loading and unloading operations. Specifically: initially, the pneumatic gripper assembly 2c is located at the other end of the crossbeam 2b, with one two-finger gripper 2c4 facing downwards and the other two-finger gripper 2c4 facing backwards. The downward-facing two-finger gripper 2c4 picks up the blank from the material tray located outside the machine housing 1. Then, the pneumatic gripper assembly 2c moves along the crossbeam 2b through the window 1a1 into the machine housing 1, and the backward-facing two-finger gripper 2c4 holds the clamp facing the window 1a1. The pre-processed workpiece is clamped in the clamp. At this time, the clamp opens, allowing the pneumatic gripper assembly 2c to move forward and remove the pre-processed workpiece from the clamp. Then, the movable frame 2c2 swings, causing the two-finger gripper 2c4, which is facing downward and holding the blank, to switch to a rearward setting (at this time, the two-finger gripper 2c4, which is facing backward and holding the pre-processed workpiece, switches to an upward setting). Then, the pneumatic gripper assembly 2c moves backward to feed the blank into the inside of the open clamp. Finally, the clamp closes and clamps the blank, thus completing the entire loading and unloading process.

[0046] like Figure 1 , Figure 2 , Figure 4 , Figure 7 and Figure 8As shown, a mounting plate 3 is detachably connected to the front side of the housing 1 below the window 1a1, and the vertical beam 2a is fixedly connected to the mounting plate 3. The mounting plate 3 is located on the outer front side of the housing 1, and its lower end is detachably connected to the housing 1 below the window 1a1. The vertical beam 2a is fixedly connected to the mounting plate 3. A mating plate 4 is connected to the housing 1 below the window 1a1. One side of the mating plate 4 is hinged to one side of the mounting plate 3. After the mounting plate 3 is disconnected from the housing 1, it can be flipped around the hinge point, causing one end of the crossbeam 2b extending into the housing 1 to flip out from the window 1a1. The flipped mounting plate 3 can be positioned with the mating plate 4. Among them, the front side of the mating plate 4 is near the hinge position between the mating plate 4 and the mounting plate 3, and the positioning block 11 is provided with a slot 11a that passes through its front side and near the side wall of the mounting plate 3. The front side of the mounting plate 3 has an insert 12 that can be inserted into the slot 11a after it is flipped around the hinge point. When the insert 12 abuts against the bottom wall of the slot 11a, the crossbeam 2b is in a state that is approximately parallel to the mating plate 4. The insert 12 and the positioning block 11 can be positioned by a pin 13.

[0047] Furthermore, such as Figures 1-5 , Figure 10 and Figure 11 As shown, the mating plate 4 is slidably connected to the housing 1 in the horizontal direction. The mating plate 4 can slide to move the flipped mounting plate 3 away from the connection position between the housing 1 and the mounting plate 3. A slide rail 5 is fixed horizontally below the window 1a1 on the front side of the housing 1, and a slider 6 connected to the slide rail 5 is fixed on the rear side of the mating plate 4. This loading and unloading mechanism also includes a positioning structure that can position the mating plate 4 after the mating plate 4 slides to move the flipped mounting plate 3 away from its connection position with the housing 1. Specifically, a limit plate 7 is fixed on the front side of the housing 1. A through hole 7a is provided horizontally on the upper edge of the limit plate 7. The positioning structure includes a locking hole on the side of the mating plate 4 opposite to its hinge point with the mounting plate 3, and a locking screw 8 that can pass through the through hole 7a and be threaded into the locking hole. The front side of the housing 1 has two parallel support bars 9 along the horizontal direction. The cross-section of the two support bars 9 is L-shaped. The slide rail 5 is located between the two support bars 9. The vertical part of the upper support bar 9 is set upward, and the vertical part of the lower support bar 9 is set downward. The rear side of the mating plate 4 is fixed with two support blocks 10, both with L-shaped cross-sections along the direction perpendicular to the support bars 9. The vertical parts of the two support blocks 10 face opposite directions. The support block 10 with its vertical part facing downward hooks onto the vertical part of the upper support bar 9, and the support block 10 with its vertical part facing upward hooks onto the vertical part of the lower support bar 9.

[0048] In this embodiment, as Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 6As shown, the housing 1 includes a main body 1a with the aforementioned window 1a1 and a base plate 1b fixed to the main body 1a by fastening screws and located below the window 1a1. The slide rail 5 and the support bar 9 are both fixedly connected to the base plate 1b. The base plate 1b is parallel to the front side wall of the main body 1a. The limiting plate 7 is fixedly connected to one end of the base plate 1b in the horizontal direction. The mating plate 4 and the mounting plate 3 are both connected to the base plate 1b. The mounting plate 3 includes a main body 3a and a secondary plate 3b fixedly connected to the lower end of the main body 3a and hinged to the mating plate 4. The lower rear side of the vertical body 1a has a right-angle notch. The secondary plate 3b is partially inserted into the right-angle notch and is fixed to the main body 3a by fasteners. The rear side of the main body 3a has a reinforcing rib 3a1 arranged along its length direction. The lower end of the reinforcing rib 3a1 abuts against the upper side of the secondary plate 3b. The rear side of the sub-plate 3b has two parallel, strip-shaped protrusions 3b1. One protrusion 3b1 abuts against the vertical portion of the upper support bar 9, and the other protrusion 3b1 abuts against the vertical portion of the lower support bar 9. The mounting plate 3 and the housing 1 are detachably connected by mounting screws 14, which pass through the sub-plate 3b and are threaded into the support bars 9. There are several mounting screws 14, and both support bars 9 are connected to mounting screws 14.

[0049] Furthermore, such as Figure 2 As shown, a positioning plate 15 is fixed at the other end of the base plate 1b along the horizontal direction. Both the limiting plate 7 and the positioning plate 15 are perpendicular to the base plate 1b. The positioning plate 15 has a positioning hole along its upper edge. The mounting plate 3 and the housing 1 are also connected by a positioning screw 16 that passes through the through hole 7a and is threaded into the sub-plate body 3b.

[0050] Under normal working conditions, such as Figure 1 , Figure 2 and Figure 4 As shown, the mounting plate 3 is connected to the housing 1, and the gantry robot 2 completes the loading and unloading of workpieces. Although the mounting plate 3 is hinged to the mating plate 4, it will not flip. The mounting plate 3 is fixedly connected to the vertical beam 2a of the gantry robot 2. The mounting plate 3 is connected to the front side of the housing 1 below the window 1a1, so that the gantry robot 2 and the housing 1 are integrated together. This is very convenient for transportation and no further debugging is required after leaving the factory.

[0051] When a tool change is needed, the operator disconnects the mounting plate 3 from the housing 1, then flips the mounting plate 3 around the hinge point so that one end of the crossbeam 2b of the gantry robot 2, which extends into the housing 1, flips out of the housing 1 through the window 1a1. After the insert 12 on the mounting plate 3 is inserted into the slot 11a on the mating plate 4, the positioning block 11 and the insert 12 are fixed together by the pin 13, so that the flipped mounting plate 3 is positioned with the mating plate 4. The state of the mounting plate 3 after flipping and positioning with the mating plate 4 is as follows. Figure 7 ,Figure 8 and Figure 9 As shown. Next, the sliding mating plate 4 moves the flipped mounting plate 3 away from its connection position with the housing 1, and after sliding into place, the locking screw 8 is used to position the mating plate 4. The state of the mating plate 4 after sliding and positioning is as shown. Figure 10 and Figure 11 As shown. In this way, the space at window 1a1 can be made up as much as possible, greatly improving the convenience of tool changing for the staff.

[0052] Example 2

[0053] This embodiment is basically the same as the first embodiment in terms of structure and principle. The difference is that in this embodiment, the positioning structure includes a positioning hole on the slide rail 5, a straight hole on the slider 6, a mounting hole on the mating plate 4, and a set screw that can pass through the mounting hole and the straight hole in sequence and be threaded into the positioning hole when the straight hole is opposite to the positioning hole.

[0054] The specific embodiments described herein are merely illustrative of the spirit of the invention. Those skilled in the art to which this invention pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, without departing from the spirit of the invention or exceeding the scope defined by the appended claims.

Claims

1. A loading and unloading mechanism for a waterwheel-type special machine, the waterwheel-type special machine including a casing (1) with a window (1a1) on the front side, the loading and unloading mechanism including a gantry manipulator (2), the gantry manipulator (2) including a vertical beam (2a), a horizontal beam (2b) movable along the vertical beam (2a), and a pneumatic gripper assembly (2c) movable along the horizontal beam (2b), characterized in that, The casing (1) is provided with a mounting plate (3) on the front side. The lower end of the mounting plate (3) is detachably connected to the casing (1) below the window (1a1). The vertical beam (2a) is fixedly connected to the mounting plate (3). One end of the horizontal beam (2b) extends into the casing (1) from the window (1a1). The casing (1) is connected to a mating plate (4) below the window (1a1). One side of the mating plate (4) is hinged to one side of the mounting plate (3). The mounting plate (3) can be detached from the casing (1). After connection, the crossbeam (2b) is flipped around the hinge point so that one end of the crossbeam (2b) extending into the housing (1) flips out through the window (1a1). The flipped mounting plate (3) can be positioned with the mating plate (4). The front side of the housing (1) has two parallel support bars (9) in the horizontal direction. The cross-section of the two support bars (9) is L-shaped. The vertical part of the upper support bar (9) is set upward and the vertical part of the lower support bar (9) is set downward. The rear side of the mating plate (4) Two L-shaped support blocks (10) are fixed along the direction of the vertical support bar (9). The vertical parts of the two support blocks (10) face opposite directions. The support block (10) with its vertical part facing downward hooks onto the vertical part of the upper support bar (9), and the support block (10) with its vertical part facing upward hooks onto the vertical part of the lower support bar (9). The front side of the mating plate (4) has a positioning feature near the hinge position between the mating plate (4) and the mounting plate (3). The positioning block (11) has a slot (11a) that extends through its front side and near the side wall of the mounting plate (3). The front side of the mounting plate (3) has a plug (12) that can be inserted into the slot (11a) after it is flipped around the hinge point. When the plug (12) abuts against the bottom wall of the slot (11a), the crossbeam (2b) is in a state that is approximately parallel to the mating plate (4). The plug (12) and the positioning block (11) can be positioned by a pin (13).

2. The loading and unloading mechanism of the waterwheel-type special machine according to claim 1, characterized in that, The mating plate (4) is slidably connected to the housing (1) in the horizontal direction. The mating plate (4) can slide to move the flipped mounting plate (3) away from the connection position between the housing (1) and the mounting plate (3).

3. The loading and unloading mechanism of the waterwheel-type special machine according to claim 2, characterized in that, The front side of the housing (1) is fixed with a slide rail (5) below the window (1a1) and the rear side of the mating plate (4) is fixed with a slider (6) connected to the slide rail (5). The loading and unloading mechanism also includes a positioning structure that can position the mating plate (4) after the mating plate (4) slides and flips the mounting plate (3) away from the connection position between the housing (1) and the mounting plate (3).

4. The loading and unloading mechanism of the waterwheel-type special machine according to claim 3, characterized in that, The front side of the housing (1) is fixed with a limiting plate (7). The upper edge of the limiting plate (7) is provided with a through hole (7a). The positioning structure includes a locking hole on the side of the mating plate (4) facing away from the hinge with the mounting plate (3) and a locking screw (8) that can pass through the through hole (7a) and be threaded into the locking hole.

5. The loading and unloading mechanism of the waterwheel-type special machine according to claim 3, characterized in that, The positioning structure includes a positioning hole on the slide rail (5), a straight hole on the slider (6), a mounting hole on the mating plate (4), and a set screw that allows the rod to pass through the mounting hole and the straight hole in sequence and be threaded into the positioning hole when the straight hole and the positioning hole are opposite each other.

6. The loading and unloading mechanism of the waterwheel-type special machine according to claim 1, characterized in that, The housing (1) includes a body (1a) having the above-mentioned window (1a1) and a base plate (1b) fixed to the body (1a) by fastening screws and located below the window (1a1). The slide rail (5) and the support bar (9) are both fixedly connected to the base plate (1b). The limiting plate (7) is fixedly connected to one end of the base plate (1b) in the horizontal direction. The mating plate (4) and the mounting plate (3) are both connected to the base plate (1b) and are parallel to the base plate (1b).

7. The loading and unloading mechanism of the waterwheel-type special machine according to claim 6, characterized in that, The mounting plate (3) includes a main body (3a) and a secondary plate (3b) fixedly connected to the lower end of the main body (3a) and hinged to the mating plate (4). The lower rear side of the vertical body (1a) has a right-angle notch. The secondary plate (3b) is partially inserted into the right-angle notch and the secondary plate (3b) is fixed to the main body (3a) by fasteners. The rear side of the main body (3a) has a reinforcing rib (3a1) arranged along its length direction. The lower end of the reinforcing rib (3a1) abuts against the upper side of the secondary plate (3b).

8. The loading and unloading mechanism of the waterwheel-type special machine according to claim 7, characterized in that, The rear side of the sub-plate (3b) has two parallel protrusions (3b1) that are both strip-shaped. One protrusion (3b1) abuts against the vertical part of the upper support bar (9), and the other protrusion (3b1) abuts against the vertical part of the lower support bar (9). The mounting plate (3) and the housing (1) are connected by mounting screws (14) that pass through the sub-plate (3b) and are threaded into the support bar (9).

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