Automatic material feeding equipment

Abstract

An automatic material feeding device includes a frame, a six-axis robot mounted thereon, a gripper assembly mounted at the end of the six-axis robot, a material securing device positioned correspondingly to the six-axis robot on the right side of the frame, a material lifting device positioned correspondingly to the six-axis robot on the right side of the material securing device, and a material turning device positioned correspondingly to the six-axis robot on the left side of the frame. The automatic material feeding device of the present invention not only maintains high feeding efficiency but also minimizes injuries to workers caused by contact with the device during material feeding, effectively eliminating safety hazards.

Description

Technical Field

[0001] The invention relates to automatic material feeding equipment. Background Art

[0002] In actual processing, the shape of the material is determined by the product. However, due to the special nature of some materials, it is extremely difficult to use automated equipment to automatically feed them. For example, ring-shaped discs also need to be reprocessed on both sides of the disc. As a result, current automated equipment cannot meet the needs of such discs. If manual feeding is used, not only is the feeding efficiency extremely low, but as the feeding time increases, the workers will feel tired, and the feeding efficiency will further decrease. At the same time, the use of manual feeding causes workers to frequently come into contact with mechanized equipment, which can easily cause workers to be injured by the working parts of the equipment, posing a serious safety hazard. Summary of the Invention

[0003] The present invention aims to solve the existing technical problem by providing an automatic material feeding device, which can not only maintain high feeding efficiency, but also avoid to the greatest extent the situation where workers are injured by contact with the equipment during material feeding, thereby effectively eliminating safety hazards.

[0004] The technical solution adopted by the present invention to solve the above technical problems is:

[0005] The present invention discloses an automatic material feeding device, comprising a frame, on which a six-axis robot matching the frame is provided; the end of the six-axis robot is provided with a clamping claw assembly matching the six-axis robot; a material fixing device corresponding to the position of the six-axis robot is provided on the right side of the frame; a material lifting device corresponding to the position of the six-axis robot is provided on the right side of the material fixing device; and a material turning device corresponding to the position of the six-axis robot is provided on the left side of the frame.

[0006] The gripper assembly includes a manipulator conversion head provided at the end of the six-axis robot; a gripper base plate is provided at the lower end of the manipulator conversion head; three-claw finger cylinders are provided on the left and right sides of the lower surface of the gripper base plate, which are symmetrical to each other; a gripper adapter plate is provided at the lower end of the gripper of the three-claw finger cylinder; a tensioning block matching the gripper adapter plate is provided on the lower surface of the gripper adapter plate; a baffle is provided directly below the gripper adapter plate; a number of movable holes corresponding to the positions of the gripper adapter plate are provided on the baffle, and the lower end of the tensioning block is provided with a plurality of movable holes corresponding to the positions of the gripper adapter plate. Located in the movable hole; the inner ends of several movable holes are connected to each other; the outer edge of the upper surface of the three-claw finger cylinder is provided with several grooves evenly distributed in a circle; the center of the bottom of the groove is provided with a telescopic hole that penetrates the three-claw finger cylinder longitudinally; the baffle is provided with several first screw holes corresponding to the positions of the telescopic holes; the lower end of the first screw passes downward through the telescopic hole and is screwed into the first screw hole, and the head of the first screw fits with the bottom of the groove; a first compression spring is provided between the lower surface of the three-claw finger cylinder and the upper surface of the baffle and is sleeved outside the first screw.

[0007] The lower surface of the clamping jaw adapter plate is provided with a plurality of adjustment grooves evenly distributed in the direction away from the center of the three-claw finger cylinder; the upper surface of the tensioning block is provided with an embedded portion matching the adjustment groove; the upper surface of the clamping jaw adapter plate is provided with a plurality of first through-holes connected with the adjustment grooves; the center of the lower surface of the tensioning block is provided with a countersunk hole connected with the first through-hole.

[0008] A first cylinder mounting seat is provided on the upper surface of the right end of the clamping jaw base plate; a first cylinder matching it is provided on the right side wall of the first cylinder mounting seat; an upper plate is provided at the lower end of the piston rod of the first cylinder; a lower plate is provided directly below the upper plate; a first suction cup mounting plate is provided on the right side wall of the middle part of the lower plate; a number of evenly distributed first suction cups are provided on the lower surface of the first suction cup mounting plate; second screw holes symmetrical to each other are provided on the front and rear sides of the upper surface of the lower plate; second through holes corresponding to the positions of the second screw holes are provided on the left and right ends of the upper plate; the lower end of the second screw passes downward through the second through hole and is screwed into the second screw hole, and the head of the second screw fits against the upper surface of the upper plate; a second compression spring is provided between the upper plate and the lower plate and is sleeved outside the second screw.

[0009] The material fixing device includes a fuselage arranged on the right side of the frame; a first rear guide column bracket is provided on the rear upper surface of the fuselage; a second rear guide column bracket is provided on the upper surface of the fuselage and is located in front of the first rear guide column bracket; the first front guide column bracket is provided on the front upper surface of the fuselage; a second front guide column bracket is provided on the upper surface of the fuselage and is located on the left side of the first front guide column bracket, and the second front guide column bracket is located in front of the second rear guide column bracket; the upper surface of the fuselage is provided with a rear cylinder bracket located between the first rear guide column bracket and the second rear guide column bracket; the upper surface of the fuselage is provided with a front cylinder bracket located between the first front column bracket and the second front column bracket; the left and right ends of the first front column bracket are connected to the left and right ends of the second front column bracket by a front guide rod; the rear side wall of the first front column bracket is provided with a front guide column guide plate that fits therewith; the left and right ends of the front column guide plate are provided with front guide holes that match the front guide rod; the upper rear side wall of the front guide column guide plate is provided with a first front splint; the upper front side wall of the second front column bracket is provided with a second front splint opposite to the first front splint ; The rear side wall of the front cylinder bracket is provided with a second cylinder matching it, and the front end of the piston rod of the second cylinder passes through the front cylinder bracket forward and is provided on the middle of the rear side wall of the front guide column guide plate; a plurality of front placement rods lower than the height of the first front splint and the second front splint are provided between the first front guide column bracket and the second front guide column bracket; the left and right ends of the first rear guide column bracket are connected to the left and right ends of the second rear guide column bracket through rear guide rods; the front side wall of the first rear guide column bracket is provided with a rear guide column guide plate fitted with it; the rear guide A first rear splint is provided on the upper part of the front side wall of the column guide plate; rear guide holes matching the rear guide rod are provided on the left and right ends of the first rear splint; a second rear splint opposite to the first rear splint is provided on the upper part of the rear side wall of the second rear guide column bracket; a third cylinder matching it is provided on the rear side wall of the rear cylinder bracket; the rear end of the piston rod of the third cylinder is provided on the middle part of the rear side wall of the rear guide column guide plate; a number of rear placement rods lower than the height of the first rear splint and the second rear splint are provided between the first rear guide column bracket and the second rear guide column bracket.

[0010] The first front guide column bracket is provided with a plurality of first front oblong holes corresponding to the positions of the front placement rods; the second front guide column bracket is provided with a plurality of second front oblong holes corresponding to the positions of the first front oblong holes; the front guide column guide plate is provided with a plurality of third front oblong holes corresponding to the positions of the first front oblong holes; the front end of the front placement rod passes through the first front oblong hole and the third front oblong hole at the same time and is screwed with a first front limit screw matching the front side wall of the first front guide column bracket; the rear end of the front placement rod passes through the second front oblong hole backward and is screwed with a second front limit screw fitting the rear side wall of the second front guide column bracket ; The first rear guide column bracket is provided with a plurality of first rear oblong holes corresponding to the position of the rear placement rod; the second rear guide column bracket is provided with a plurality of second rear oblong holes corresponding to the position of the first rear oblong hole; the rear guide column guide plate is provided with a plurality of third rear oblong holes corresponding to the position of the first rear oblong hole; the rear end of the rear placement rod passes through the first rear oblong hole and the third rear oblong hole backward at the same time and is provided with a first rear limit screw that fits with the rear side wall of the first rear guide column bracket; the front end of the rear placement rod passes through the second rear oblong hole forward and is provided with a second rear limit screw that fits with the front side wall of the second rear guide column bracket.

[0011] The material lifting device includes a front column base and a rear column base located at the rear side of the front column base, and both the front column base and the rear column base are located on the right side of the fuselage; a front column is provided at the center of the upper surface of the front column base; a rear column is provided at the center of the upper surface of the rear column base that is symmetrical to the front column; both the front column and the rear column are tubular; a front cover is provided on the upper end surface of the front column, and the front cover shields and seals the upper end pipe opening of the front column; a rear cover is provided on the upper end surface of the rear column, and the rear cover seals the rear column The pipe opening at the upper end of the column is shielded and sealed; the front cover plate and the rear cover plate are connected by a connecting plate; a front notch is provided on the left side of the middle of the front cover plate and is communicated with the pipe opening at the upper end of the front column; a rear notch is provided on the left side of the middle of the rear cover plate and is communicated with the pipe opening at the upper end of the rear column; a first bearing seat is provided on the front side of the upper surface of the front cover plate and the rear side of the upper surface of the rear cover plate; a second bearing seat is provided on the rear side of the upper surface of the front cover plate and the front side of the upper surface of the rear cover plate and is opposite to the first bearing seat; a second bearing seat is provided on the second bearing seat and is matched with the first bearing seat A worm gear reducer is provided; a servo motor matching it is provided above the worm gear reducer; a bearing hole is provided on the first bearing seat and the second bearing seat; the output shaft of the worm gear reducer passes through the bearing holes on the first bearing seat and the second bearing seat at the same time, and the output shaft of the worm gear reducer is connected to the bearing hole through the first bearing; the output shaft of the worm gear reducer is provided with an upper sprocket located between the first bearing seat and the second bearing seat; the lower left side wall of the front column and the rear column are both provided with a rotating opening that penetrates into their respective internal spaces; a fixed shaft corresponding to the position of the rotating opening is provided in the lower part of the front column and the rear column; a lower sprocket corresponding to the position of the upper sprocket is provided on the fixed shaft; an axial hole is provided in the center of the lower sprocket, and the fixed shaft passes through the axial hole; a second bearing is provided between the inner wall of the axial hole and the outer wall of the fixed shaft; the upper sprocket and the lower sprocket are connected by a roller chain; the left side of the front column and the left side of the rear column are both provided with a lifting mechanism matching the roller chain.

[0012] The lifting mechanism includes a lifting base plate provided on the left side of the front column and the left side of the rear column; an upper lifting ring is provided at the center of the upper end of the lifting base plate, and a lower lifting ring is provided at the center of the lower end of the lifting base plate; one end of the roller chain is connected to the upper lifting ring, and the other end of the roller chain is connected to the lower lifting ring; the left side wall of the front column and the left side wall of the rear column are provided with mutually symmetrical first guide rails on the front and back sides; the right side wall of the lifting base plate is provided with a first slider matching the first guide rail on the front and back sides; the left side wall of the lifting base plate is provided with mutually symmetrical second guide rails on the upper and lower sides; the left side wall of the lifting base plate is provided with a fourth cylinder mounting plate located between the upper and lower second guide rails; the fourth cylinder mounting plate is provided with a fourth cylinder matching it; the piston of the fourth cylinder The end of the rod is provided with a translation seat located on the left side of the lifting base plate; the upper and lower sides of the right side wall of the translation seat are provided with second sliders matching the second guide rail; a trolley is provided between the translation seat on the lifting base plate located on the left side of the front column and the translation seat on the lifting base plate located on the left side of the rear column; a number of hanging rods evenly distributed from top to bottom are provided on the front and rear sides of the left side wall of the trolley; wheels symmetrical to each other are provided on the front and rear sides of the lower end of the trolley; a support frame is provided on the left side wall of the lower end of the trolley, and the lower surface of the support frame is lower than the lower surface of the wheel; a number of evenly distributed hooks are provided on the front and rear sides of the right side wall of the trolley from top to bottom; a number of suspension arms corresponding to the position of the hooks are provided on the side wall of the translation seat opposite to the hooks; and a card slot matching the hooks is provided on the suspension arm.

[0013] The material turning device includes a left column base arranged at the left rear of the frame; a left column is provided at the center of the upper surface of the left column base; a top plate is provided at the upper end of the left column; a material transfer plate is provided at the right front of the upper surface of the top plate; a rotary cylinder mounting plate is provided at the left rear of the upper surface of the top plate; a rotary cylinder matching it is provided on the right side wall of the rotary cylinder mounting plate; a rotating bracket matching it is provided on the rotary cylinder; a rotating adapter plate is provided at the upper end of the rotating bracket; a material suction cup bottom plate is provided at the right end of the rotating adapter plate; a plurality of second suction cups evenly distributed in a circle are provided on the front side wall of the material suction cup bottom plate.

[0014] The bottom plate of the material suction cup is provided with a plurality of fourth oblong holes corresponding to the position of the second suction cup; the air pipe at the rear end of the second suction cup passes through the corresponding fourth oblong holes and is screwed with a front limit nut and a rear limit nut at the same time, the front limit nut fits in contact with the front side wall of the bottom plate of the material suction cup, and the rear limit nut fits in contact with the rear side wall of the bottom plate of the material suction cup.

[0015] The beneficial effects of the present invention are:

[0016] Compared with the prior art, the automatic material feeding equipment using the structure of the present invention can lift the material to a height corresponding to the position of the clamping claw assembly through the material lifting device, so that the six-axis robot can clamp the material through the clamping claw assembly, and then quickly place it on the material fixing device, so that the dedicated processing device can stably process the upper surface of the material. If the lower surface of the material also needs to be processed, the material can be turned over by the material turning device so that the upper surface of the material that was originally facing downward faces upward, which is convenient for the processing device to process the lower surface of the material. The entire process does not require human participation, achieving the effect of automatic feeding, and can always maintain high feeding efficiency. With no human participation, it can prevent staff from touching the equipment to the greatest extent, thereby avoiding injuries caused by frequent contact with the equipment by staff, and effectively eliminating safety hazards. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of the automatic material feeding equipment of the present invention;

[0018] Figure 2 It is a structural diagram of the material lifting device from one angle;

[0019] Figure 3 yes Figure 2 An enlarged view of part A;

[0020] Figure 4 yes Figure 2 An enlarged view of part B;

[0021] Figure 5 yes Figure 2 An enlarged view of part C;

[0022] Figure 6 yes Figure 2 An enlarged view of the D portion;

[0023] Figure 7 This is a structural diagram of the material lifting device from another angle;

[0024] Figure 8 yes Figure 7 An enlarged view of part E;

[0025] Figure 9 It is a structural diagram of a material fixing device from one angle;

[0026] Figure 10 yes Figure 9 An enlarged view of part F;

[0027] Figure 11 yes Figure 9 An enlarged view of the G section;

[0028] Figure 12This is a structural diagram of the material fixing device from another angle;

[0029] Figure 13 yes Figure 12 An enlarged view of the H portion;

[0030] Figure 14 yes Figure 12 An enlarged view of part I;

[0031] Figure 15 It is a structural diagram of the gripper assembly;

[0032] Figure 16 yes Figure 15 An enlarged view of the J portion;

[0033] Figure 17 It is a partial structural diagram of the gripper assembly;

[0034] Figure 18 It is a structural diagram of a material turning device;

[0035] Figure 19 yes Figure 18 Enlarged view of the K section. DETAILED DESCRIPTION

[0036] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments:

[0037] See also Figures 1 to 19 The present invention provides an automatic material feeding device, comprising a frame 1, on which a six-axis robot 2 matching the frame is provided; a gripper assembly 3 matching the six-axis robot 2 is provided at the end of the six-axis robot 2; a material fixing device 4 corresponding to the position of the six-axis robot 2 is provided on the right side of the frame 1; a material lifting device 5 corresponding to the position of the six-axis robot 2 is provided on the right side of the material fixing device 4; and a material turning device 6 corresponding to the position of the six-axis robot 2 is provided on the left side of the frame 1.

[0038] The gripper assembly 3 includes a manipulator conversion head 301 provided at the end of the six-axis robot; a gripper base plate 302 is provided at the lower end of the manipulator conversion head 301; three-claw finger cylinders 303 are provided on the left and right sides of the lower surface of the gripper base plate 302, which are symmetrical to each other; a gripper adapter plate 304 is provided at the lower end of the gripper of the three-claw finger cylinder 303; a tensioning block 305 matching it is provided on the lower surface of the gripper adapter plate 304; a baffle 306 located directly below the gripper adapter plate 304 is provided directly below the three-claw finger cylinder 303; a number of movable holes 307 corresponding to the positions of the gripper adapter plate 304 are provided on the baffle 306, and the lower end of the tensioning block 305 is located at the movable hole 307; the inner ends of several movable holes 307 are interconnected; the outer edge of the upper surface of the three-claw finger cylinder 303 is provided with several grooves 308 evenly distributed in a circle; the center of the bottom of the groove 308 is provided with a telescopic hole 309 that longitudinally penetrates the three-claw finger cylinder 303; the baffle 306 is provided with several first screw holes 310 corresponding to the positions of the telescopic holes 309; the lower end of the first screw 311 passes downward through the telescopic hole 309 and is screwed into the first screw hole 310, and the head of the first screw 311 fits against the bottom of the groove 308; a first compression spring 313 is provided between the lower surface of the three-claw finger cylinder 303 and the upper surface of the baffle 306 and is sleeved outside the first screw 311.

[0039] The lower surface of the clamping jaw adapter plate 304 is provided with a plurality of adjustment grooves 314 evenly distributed in a direction away from the center of the three-claw finger cylinder 303; the upper surface of the tensioning block 305 is provided with an embedded portion 315 matching the adjustment groove 314; the upper surface of the clamping jaw adapter plate 304 is provided with a plurality of first through-holes 316 communicating with the adjustment grooves 314; the center of the lower surface of the tensioning block 305 is provided with a countersunk hole 317 communicating with the first through-hole 316.

[0040] When the cam 324 is in the closed position, the screw 324a is tightened to the screw 324b, so that the cam 324a can be tightened to the screw 324b. When the cam 324 is tightened, the screw 324a is tightened to the screw 324b. When the cam 324 is tightened, the screw 324a is tightened to the screw 324b. When the cam 324 is tightened, the screw 324a is tightened to the screw 324b. When the cam 324 is in the closed position, the screw 324a is tightened to the screw 324b. When the cam 324 is in the closed position, the screw 324a is tightened to the screw 324b. When the cam 324 is in the closed position, the screw 324a is tightened to the screw 324b. When the cam 324 is in the closed position, the screw 324a is tightened to the screw 324b.

[0041] The material fixing device 4 includes a fuselage 401 arranged on the right side of the frame 1; a first rear guide column bracket 402 is provided on the rear side of the upper surface of the fuselage 401, and a second rear guide column bracket 403 is provided on the upper surface of the fuselage 401 and is located in front of the first rear guide column bracket 402; a first front guide column bracket 404 is provided on the front side of the upper surface of the fuselage 401; a second front guide column bracket 405 is provided on the upper surface of the fuselage 401 and is located on the left side of the first front guide column bracket 404, and the second front guide column bracket 405 is located in front of the second rear guide column bracket 403; a rear cylinder bracket 406 is provided on the upper surface of the fuselage 401 and is located between the first rear guide column bracket 402 and the second rear guide column bracket 403; The upper surface of the body 401 is provided with a front cylinder bracket 407 located between the first front guide column bracket 404 and the second front guide column bracket 405; the left and right ends of the first front guide column bracket 404 are connected to the left and right ends of the second front guide column bracket 405 by a front guide rod 408; the rear side wall of the first front guide column bracket 404 is provided with a front guide column guide plate 409 that fits therewith; the left and right ends of the front guide column guide plate 409 are provided with front guide holes 410 that match the front guide rod 408; the upper part of the rear side wall of the front guide column guide plate 409 is provided with a first front clamping plate 411; the upper part of the front side wall of the second front guide column bracket 405 is provided with a second front clamping plate opposite to the first front clamping plate 411 Plate 412; the rear side wall of the front cylinder bracket 407 is provided with a second cylinder 413 that matches it, and the front end of the piston rod of the second cylinder 413 passes forward through the front cylinder bracket 407 and is provided on the middle part of the rear side wall of the front guide column guide plate 409; a plurality of front placement rods 414 that are lower than the height of the first front clamping plate 411 and the second front clamping plate 412 are provided between the first front guide column bracket 404 and the second front guide column bracket 405; the left and right ends of the first rear guide column bracket 402 are connected to the left and right ends of the second rear guide column bracket 403 through rear guide rods 415; the front side wall of the first rear guide column bracket 402 is provided with a rear guide column guide plate 416 that fits it; the rear guide column A first rear clamping plate 417 is provided on the upper part of the front side wall of the guide plate 416; rear guide holes 418 matching the rear guide rod 415 are provided on the left and right ends of the first rear clamping plate 417; a second rear clamping plate 419 opposite to the first rear clamping plate 417 is provided on the upper part of the rear side wall of the second rear guide column bracket 403; a third cylinder 420 matching it is provided on the rear side wall of the rear cylinder bracket 406; the rear end of the piston rod of the third cylinder 420 is provided on the middle part of the rear side wall of the rear guide column guide plate 416; a number of rear placement rods 421 lower than the height of the first rear clamping plate 417 and the second rear clamping plate 419 are provided between the first rear guide column bracket 402 and the second rear guide column bracket 403.

[0042] The first front guide column bracket 404 is provided with a plurality of first front oblong holes 422 corresponding to the positions of the front placement rods 414; the second front guide column bracket 405 is provided with a plurality of second front oblong holes 423 corresponding to the positions of the first front oblong holes 422; the front guide column guide plate 409 is provided with a plurality of third front oblong holes corresponding to the positions of the first front oblong holes 422; the front end of the front placement rod 414 passes through the first front oblong hole 422 and the third front oblong hole forward at the same time and is screwed with a first front limit screw 425 matching the front side wall of the first front guide column bracket 404; the rear end of the front placement rod 414 passes through the second front oblong hole 423 backward and is screwed with a second front limit screw 426 fitting the rear side wall of the second front guide column bracket 405 ; The first rear guide column bracket 402 is provided with a plurality of first rear oblong holes 427 corresponding to the position of the rear placement rod 421; the second rear guide column bracket 403 is provided with a plurality of second rear oblong holes 428 corresponding to the position of the first rear oblong holes 427; the rear guide column guide plate 416 is provided with a plurality of third rear oblong holes corresponding to the position of the first rear oblong holes 427; the rear end of the rear placement rod 421 passes through the first rear oblong hole 427 and the third rear oblong hole backward at the same time and is provided with a first rear limit screw 430 that fits with the rear side wall of the first rear guide column bracket 402; the front end of the rear placement rod 421 passes through the second rear oblong hole 428 forward and is provided with a second rear limit screw 431 that fits with the front side wall of the second rear guide column bracket 403.

[0043] The material lifting device 5 includes a front column base 501 and a rear column base 502 located at the rear side of the front column base 501. The front column base 501 and the rear column base 502 are both located on the right side of the fuselage 401. A front column 503 is provided at the center of the upper surface of the front column base 501. A rear column 504 symmetrical to the front column 503 is provided at the center of the upper surface of the rear column base 502. Both the front column 503 and the rear column 504 are tubular. A front cover plate 505 is provided on the upper end surface of the front column 503 to shield and seal the upper end pipe opening of the front column 503. A rear cover plate 506 is provided on the upper end surface of the rear column 504 to shield and seal the rear end pipe opening of the rear column 504. The pipe opening at the upper end of the column 504 is shielded and sealed; the front cover plate 505 and the rear cover plate 506 are connected by a connecting plate 507; a front notch 508 is provided on the left side of the middle of the front cover plate 505, which is in communication with the pipe opening at the upper end of the front column 503; a rear notch 509 is provided on the left side of the middle of the rear cover plate 506, which is in communication with the pipe opening at the upper end of the rear column 504; a first bearing seat 510 is provided on the front side of the upper surface of the front cover plate 505 and the rear side of the upper surface of the rear cover plate 506; a second bearing seat 511 is provided on the rear side of the upper surface of the front cover plate 505 and the front side of the upper surface of the rear cover plate 506, which is opposite to the first bearing seat 510; a worm gear reducer is provided on the second bearing seat 511, which matches the worm gear reducer. The worm gear reducer 512 is provided with a servo motor 513 matched therewith above the worm gear reducer 512; the first bearing seat 510 and the second bearing seat 511 are both provided with bearing holes 514; the output shaft 515 of the worm gear reducer 512 passes through the bearing holes 514 on the first bearing seat 510 and the second bearing seat 511 at the same time, and the output shaft 515 of the worm gear reducer 512 is connected to the bearing hole 514 through the first bearing 516; the output shaft 515 of the worm gear reducer 512 is provided with an upper sprocket 517 located between the first bearing seat 510 and the second bearing seat 511; the lower left side of the front column 503 and the rear column 504 The walls are all provided with a rotating opening 518 that is connected to their respective internal spaces; a fixed shaft 519 corresponding to the position of the rotating opening 518 is provided in the lower part of the front column 503 and the rear column 504; a lower sprocket 520 corresponding to the position of the upper sprocket 517 is provided on the fixed shaft 519; an axial hole 521 is provided in the center of the lower sprocket 520, and the fixed shaft 519 passes through the axial hole 521; a second bearing 522 is provided between the inner wall of the axial hole 521 and the outer wall of the fixed shaft 519; the upper sprocket 517 and the lower sprocket 520 are connected by a roller chain 523; the left side of the front column 503 and the left side of the rear column 504 are both provided with a lifting mechanism matching the roller chain 523.

[0044] The lifting mechanism includes a lifting base 524 provided on the left side of the front column 503 and the left side of the rear column 504; an upper lifting ring 525 is provided at the center of the upper end of the lifting base 524, and a lower lifting ring 526 is provided at the center of the lower end of the lifting base 524; one end of the roller chain 523 is connected to the upper lifting ring 525, and the other end of the roller chain 523 is connected to the lower lifting ring 526; the left side wall of the front column 503 and the left side wall of the rear column 504 are provided with first guide rails 522 which are symmetrical to each other on the front and rear sides. 7; The right side wall of the lifting base plate 524 is provided with a first slider 528 matching the first guide rail 527 on both the front and rear sides; the left side wall of the lifting base plate 524 is provided with a second guide rail 529 symmetrical to each other on the upper and lower sides; the left side wall of the lifting base plate 524 is provided with a fourth cylinder mounting plate 530 located between the upper and lower second guide rails 529; the fourth cylinder mounting plate 530 is provided with a fourth cylinder 531 matching therewith; the piston rod end of the fourth cylinder 531 is provided with a position A translation seat 532 is provided on the left side of the lifting base plate 524; a second slider 533 matching the second guide rail 529 is provided on the upper and lower sides of the right side wall of the translation seat 532; a trolley 534 is provided between the translation seat 532 on the lifting base plate 524 on the left side of the front column 503 and the translation seat 532 on the lifting base plate 524 on the left side of the rear column 504; a plurality of hanging rods 535 are provided on the front and rear sides of the left side wall of the trolley 534, which are evenly distributed from top to bottom; the front end of the lower end of the trolley 534 is provided with a plurality of hanging rods 535 ... second slider 533 matching the second guide rail 529 is provided on the upper and lower sides of the right side wall of the trolley 534; the second slider 533 matching the second guide rail 529 is provided on the upper and lower sides of the right side wall of the trolley Symmetrical wheels 536 are provided on both sides of the rear side; a support frame 537 is provided on the left side wall at the lower end of the cart 534, and the lower surface of the support frame 537 is lower than the lower surface of the wheel 536; a number of evenly distributed hooks 538 are provided on the front and back sides of the right side wall of the cart 534 from top to bottom; a number of suspension arms 539 corresponding to the positions of the hooks 538 are provided on the side wall of the translation seat 532 opposite to the hooks 538; a card slot 540 matching the hooks 538 is provided on the suspension arm 539.

[0045] The material turning device 6 includes a left column base 601 arranged at the left rear of the frame 1; a left column 602 is provided at the center of the upper surface of the left column base 601; a top plate 603 is provided at the upper end of the left column 602; a material transfer plate 604 is provided at the right front of the upper surface of the top plate 603; a rotary cylinder mounting plate 605 is provided at the left rear of the upper surface of the top plate 603; a rotary cylinder 606 matching it is provided on the right side wall of the rotary cylinder mounting plate 605; a rotating bracket 607 matching it is provided on the rotary cylinder 606; a rotating adapter plate 608 is provided at the upper end of the rotating bracket 607; a material suction cup bottom plate 609 is provided at the right end of the rotating adapter plate 608; a plurality of second suction cups 610 evenly distributed in a circle are provided on the front side wall of the material suction cup bottom plate 609.

[0046] The material suction cup bottom plate 609 is provided with several fourth oblong holes 611 corresponding to the positions of the second suction cup 610; the air pipe 612 at the rear end of the second suction cup 610 passes through the corresponding fourth oblong holes 611 and is screwed with a front limiting nut 613 and a rear limiting nut 614 at the same time. The front limiting nut 613 fits against the front side wall of the material suction cup bottom plate 609, and the rear limiting nut 614 fits against the rear side wall of the material suction cup bottom plate 609.

[0047] The method of use of the present invention is as follows:

[0048] Before the material feeding work is carried out, the hook 538 of the cart 534 is not actually suspended on the suspension arm 539 of the translation seat 532. At this time, the cart 534 is on the ground as an independent individual, so that it is convenient to use the cart 534 to concentrate a large amount of materials 7. The support frame 537 on the left side wall of the lower end of the material 7 is lower than the lower surface of the wheel 536. Therefore, when the cart 534 is stationary, the support frame 537 is in contact with the ground, and the wheel 536 is suspended above the ground, thereby ensuring the stability of the cart 534 when it is stationary. At this time, the annular material 7 can be put on the hanging rod 535 on the left side of the cart 534. As the staff loosens the annular material 7 on the outside of the hanging rod 535, the annular material 7 is now under the action of its own gravity. When the material 7 falls, the hanging rod 535 will prevent the material 7 from falling by restricting the inner wall of the ring-shaped material 7, so that the ring-shaped material 7 is in a state of being hung on the hanging rod 535. After the actual required number of ring-shaped materials 7 are hung on each hanging rod 535, the handrail at the upper end of the trolley 534 can be used to press the upper end of the trolley to the right and downward. At this time, the lower end of the trolley 534 drives the support frame 537 to tilt and leave the ground, and the wheels 536 begin to directly contact the ground. Then, the wheels 536 can be used to move the trolley 534, thereby realizing the movement of the ring-shaped material 7. When the trolley 534 moves between the front and rear translation seats 532, the suspension arm 539 is just below the hook 538 at this moment, and then the height of the suspension arm 539 can be adjusted.

[0049] When the height of the suspension arm 539 needs to be adjusted, the servo motor can be started. At this time, the motor shaft of the servo motor 513 will drive the worm gear reducer 512 to operate, and the output shaft 515 of the worm gear reducer 512 will rotate accordingly, thereby realizing the rotation of the upper sprocket 517, and the upper sprocket 517 is connected to the lower sprocket 520 through a roller chain 523. When the upper sprocket 517 rotates, the roller chain 523 rotates synchronously with it, and the existence of the front notch 508, the pipe opening at the upper end of the front column 503 and the rotating opening 518 at the lower part of the front column 503 can The roller chain 523 on the front side can match the upper sprocket 517 and the lower sprocket 520 and connect to the upper and lower ends of the lifting base plate 524 on the front side. The existence of the rear notch 509, the pipe opening at the upper end of the rear column 504 and the rotating opening 518 at the lower part of the rear column 504 can ensure that the roller chain 523 on the rear side can match the upper sprocket 517 and the lower sprocket 520 and connect to the upper and lower ends of the lifting base plate 524 on the front side, thereby ensuring the smoothness of the rotation and transportation of the roller chains 523 on the front and rear sides. When the roller chain 523 rotates During transportation, the lifting base plate 524 moves up and down along the track of the first guide rail 527. When the lifting base plate 524 moves up, the suspension arm 539 on the translation seat 532 moves up synchronously. At this time, the suspension arm 539 continues to move up and approaches the hook 538 located above it. When the suspension arm 539 moves up to a position close to the hook 538, the fourth cylinder 531 can be started. At this time, the piston rod of the fourth cylinder 531 will drive the translation seat 532 to move stably along the track of the second guide rail 529. The suspension arm 539 moves synchronously. At this time, the card slot 539 on the suspension arm 539 40 finally moves to just below the hook 538, and then the fourth cylinder 531 can be closed, and then the servo motor 513 can be started again, so that the roller chain 523 rotates and conveys again, and the suspension arm 539 moves up again, so that the hook 538 is stuck in the slot 540, ensuring the stability between the hook 538 and the suspension arm 539. At this time, the suspension arm 539 continues to move up, driving the hook 538 to move up, thereby realizing the upward movement of the trolley 534. When the trolley 534 drives a large amount of annular materials 7 to move up to the actual required height, the roller chain 523 stops conveying.

[0050] When the trolley 534 is suspended at the actual required height, it is convenient for the six-axis robot 2 to pick up the annular material 7 hanging on the hanging rod 535. The six-axis robot is an existing industrial robot that can perform multi-angle clamping work. At this time, the six-axis robot will drive the gripper base plate 302 to flip so that the lower surface of the gripper base plate 302, which was originally facing downward, is opposite to the annular material 7. At this moment, the three-claw finger cylinders 303 on the left and right sides of the gripper base plate 302 do not work at the same time. It is only necessary to ensure that the three-claw finger cylinder 303 adjacent to the first cylinder 319 is opposite to the annular material 7. At this time, the six-axis robot 2 drives the gripper base plate 302 to gradually approach the annular material 7 on the far left, so that the first suction cup 323 continues to approach the annular material 7 on the far left. When the first suction cup 323 approaches, the first suction cup 323 generates suction to absorb the annular material 7 on the far left, thereby preventing the adjacent materials from being too closely attached, making it difficult for the annular material 7 on the far left to be sucked by the three-claw hand. The embodiment of the present invention relates to the clamping of the cylinder 303. When the six-axis robot 2 moves the first suction cup 323 to a certain position, the first cylinder 319 is activated, and the piston rod of the first cylinder 319 drives the upper plate 320 to move, thereby realizing the movement of the first suction cup 323 again, so that the first suction cup 323 approaches the annular material 7 located on the far left alone. As the annular material 7 located on the far left is sucked by the first suction cup 323, when the first suction cup 323 is pressed against the wall of the annular material, the second compression spring 327 acts as a buffer to prevent the first suction cup 323 from directly pressing against the wall of the annular material 7 when sucking the annular material 7, which may cause damage to itself. When the first suction cup 323 is tightly sucked against the left side wall of the annular material 7 located on the far left, the annular material located on the far left will separate from the adjacent annular material and move a certain distance to the left along the trajectory of the hanging rod 535. Then the first cylinder 319 is activated again, so that the first suction cup 323 continues to move away from the hanging rod 535.

[0051] When the inner ends of the plurality of movable holes 307 are interlinked with each other, when the first suction cup 323 sucks the annular material located on the far left, the position where the inner ends of the plurality of movable holes 307 are interlinked with each other is just penetrated by the hanging rod 535, thereby ensuring that the original lower surface of the baffle 306 is opposite to the left side wall of the annular material 7 located on the far left. As the first suction cup 323 continuously moves with the annular material 7 in the direction away from the hanging rod 535, the left side wall of the annular material 7 will fit with the original lower surface of the baffle 306. As the annular material 7 continues to move, the annular material 7 will squeeze the baffle 306, so that the baffle 306 continues to approach the trajectory of the telescopic hole 309 through the first screw 311. Near the clamping jaw adapter plate 304, the tensioning block 305 originally located in the movable hole 307 on the baffle 306 will pass through the movable hole 307 and continue to pass into the inner hole of the annular material. As the clamping jaws of the three-claw finger cylinder 303 drive the clamping jaw adapter plate 304 to open, a number of tensioning blocks 305 evenly distributed around the circumference will continuously exert pressure on the inner wall of the annular material 7, thereby utilizing the expanded tensioning blocks 305 to clamp the annular material. When the baffle 306 is squeezed by the annular material, the first compression spring 313 plays a buffering and regulating role, causing the annular material to gradually fit into the lower surface of the baffle 306, avoiding the situation where the annular material 7 is tilted at an angle when being clamped, thereby ensuring the stability of the annular material 7 when being clamped.

[0052] When the annular material is clamped, the first suction cup 323 no longer absorbs the annular material. At this time, the first cylinder 319 drives the first suction cup 323 to reset, and the clamped annular material 7 will leave the hanging rod 535 under the action of the six-axis robot 2, and adjust the angle again so that the annular material 7 is parallel to the top of the fuselage 401, and the annular material 7 is placed on the rear placement rod 421. At this time, the annular material held by the rear placement rod 421 is between the first rear splint 417 and the second rear splint 419. Then, the above method can be used again to take another piece of the annular material 7 on the cart 534 and place it on the front placement rod 414. The annular material held by the front placement rod 414 is between the first front splint 411 and the second front splint 412. Then, the second cylinder 413 and the third cylinder 420 can be started at the same time. When the second cylinder 41 When the air cylinder 420 is started, the piston rod of the second cylinder 413 drives the first front clamping plate 411 to move backward, and the distance between the first front clamping plate 411 and the second front clamping plate 412 is continuously reduced, thereby clamping the annular material 7 located between the first rear clamping plate 417 and the second rear clamping plate 419. When the air cylinder 420 is started, the piston rod of the third cylinder 420 drives the first rear clamping plate 417 to move forward, and the distance between the first rear clamping plate 417 and the second rear clamping plate 419 is continuously reduced, thereby clamping the annular material 7 located between the first rear clamping plate 417 and the second rear clamping plate 419. After the annular material 7 is clamped, the upper surface of the annular material 7 can be processed by a dedicated processing device. After the processing of the upper surface of the annular material is completed, the lower surface of the annular material 7 needs to be processed. At this time, the annular material 7 needs to be turned over.

[0053] When the annular material 7 needs to be processed on the reverse side, the six-axis robot 2 can be used to control the three-claw finger cylinder 303 to approach the annular material 7 that has completed single-sided processing. When the baffle 306 fits the upper surface of the annular material 7 that has completed single-sided processing, as the three-claw finger cylinder 303 continues to press down, the vertical distance between the baffle 306 and the clamping claw adapter plate 304 is reduced, and the tensioning block 305 passes through the movable hole 307 on the baffle 306 and is stuck into the inner hole of the annular material 7. As the three-claw finger cylinder 303 controls the tensioning block 305 to open and press the inner wall of the annular material 7, the annular material 7 is clamped and fixed again, and then The annular material 7 can be transferred to the front of the material suction cup bottom plate 609 by the six-axis robot. At this time, the original lower surface of the annular material 7 is just opposite to the second suction cup 610. As the second suction cup 610 is opened, the second suction cup 610 firmly adsorbs the original lower surface of the annular material 7 through its own suction force. Then the three-claw finger cylinder 303 can be opened to control the contraction of several tension blocks 305 evenly distributed in a circle so that the tension blocks 305 are no longer pressed tightly against the inner wall of the annular material 7. Then the six-axis robot 2 controls the clamping claw assembly 3 to leave the range of movement of the material suction cup bottom plate 609. Then the rotary cylinder 606 can be started. At this time, the rotary cylinder 606 The cylinder 606 will drive the rotating bracket 607 to rotate, so that the upper end of the rotating bracket 607 rotates forward. When the rotating bracket 607 rotates, the material suction cup bottom plate 609 rotates accordingly. Finally, the material suction cup bottom plate 609 is parallel to the upper surface of the material transfer plate 604, so that the annular material 7 is parallel to the upper surface of the material transfer plate 604. As the second suction cup 610 is closed, the second suction cup 610 no longer has suction, and the annular material 7 will fall stably on the upper surface of the material transfer plate 604 under the action of gravity. At this time, the annular material 7 is facing upwards with its original lower surface, thereby flipping the annular material 7. Finally, the six-axis machine Person 2 uses the clamping jaw assembly 3 to clamp the flipped annular material 7, and then places it between the first front splint 411 and the second front splint 412 or between the first rear splint 417 and the second rear splint 419 to process the upper surface of the annular material 7. When both sides of the annular material 7 are processed, the three-claw finger cylinder 303 on the left and right sides of the clamping jaw assembly 3 can simultaneously clamp the annular material 7 between the first front splint 411 and the second front splint 412 and the material between the first rear splint 417 and the second rear splint 419, thereby achieving the effect of simultaneously unloading two pieces of annular material 7 and effectively improving the unloading effect.

[0054] From the above, it can be seen that the present invention can lift the material 7 to a height corresponding to the position of the gripper assembly 3 through the material lifting device 5, so that the six-axis robot 2 can clamp the material 7 through the gripper assembly 3, and then quickly place it on the material fixing device 4, so that the dedicated processing device can stably process the upper surface of the material 7. If the lower surface of the material 7 also needs to be processed, the material turning device 6 can be used to turn the material 7 so that the upper surface of the material 7 that was originally facing downwards faces upwards, which is convenient for the processing device to process the lower surface of the material 7. The entire process does not require human participation, and the effect of automatic feeding is achieved, which can always maintain high feeding efficiency. With no human participation, it can prevent staff from touching the equipment to the greatest extent, thereby avoiding injuries caused by frequent contact with the equipment by staff, and effectively eliminating safety hazards.

[0055] The lower surface of the clamping jaw adapter plate 304 is provided with a plurality of adjustment grooves 314 evenly distributed in a direction away from the center of the three-claw finger cylinder 303, the upper surface of the tensioning block 305 is provided with an embedded portion 315 matching the adjustment groove 314, the upper surface of the clamping jaw adapter plate 304 is provided with a plurality of first through-holes 316 intersecting the adjustment grooves 314, and the center of the lower surface of the tensioning block 305 is provided with a countersunk hole 317 intersecting the first through-hole 316. Since the material 7 has different models, the inner diameter and outer diameter of the material 7 of different models are different. At this time, the adjustment can be performed. The slot 314 adjusts the position of the tensioning block 305 to cater to changes in material size. If the embedded portion of the upper end of the tensioning block 305 is embedded in the adjustment slot 314 away from the three-claw finger cylinder 303, the tensioning range of the tensioning block 305 will become larger accordingly, and the countersunk hole 317 and the first through-hole 316 can be fixed by bolts and nuts. It is only necessary to pass the bolt upward through the countersunk hole 317 and the first countersunk hole 317 in turn and screw it with a nut that fits the upper surface of the clamping jaw adapter plate 304 to ensure the stability between the tensioning block 305 and the clamping jaw adapter plate 304.

[0056] The material suction cup bottom plate 609 is provided with several fourth oblong holes 611 corresponding to the positions of the second suction cup 610. The air pipe at the rear end of the second suction cup 610 passes through the corresponding fourth oblong holes 611 and is screwed with a front limit nut 613 and a rear limit nut 614. The front limit nut 613 fits against the front side wall of the material suction cup bottom plate 609, and the rear limit nut 614 fits against the rear side wall of the material suction cup bottom plate 609. The front limit nut 613 and the rear limit nut 614 only need to change their own positions by rotating to change the position of the second suction cup 610, thereby facilitating the adjustment of the distance between the second suction cup 610 when it is suspended above the material transfer plate 604, so as to better flip the material.

Claims

1. An automatic material feeding device, comprising a frame, characterized in that: The frame is provided with a six-axis robot that matches it; the end of the six-axis robot is provided with a gripper assembly that matches it; a material fixing device corresponding to the position of the six-axis robot is provided on the right side of the frame; a material lifting device corresponding to the position of the six-axis robot is provided on the right side of the material fixing device; a material turning device corresponding to the position of the six-axis robot is provided on the left side of the frame; the material fixing device includes a fuselage provided on the right side of the frame; the material lifting device includes a front column base, a rear column base located behind the front column base, and the front column base and the rear column base are connected. The bases are all located on the right side of the fuselage; a front column is provided at the center of the upper surface of the front column base; a rear column is provided at the center of the upper surface of the rear column base that is symmetrical to the front column; the left side of the front column and the left side of the rear column are both provided with a lifting mechanism that matches the roller chain; the lifting mechanism includes a lifting base plate provided on the left side of the front column and the left side of the rear column; an upper lifting ring is provided at the center of the upper end of the lifting base plate, and a lower lifting ring is provided at the center of the lower end of the lifting base plate; one end of the roller chain is connected to the upper lifting ring, and the other end of the roller chain is connected to the lower lifting ring; the front and rear sides of the left side wall of the front column and the left side wall of the rear column are connected. The first guide rails are symmetrical to each other; the front and rear sides of the right side wall of the lifting base are both provided with a first slider matching the first guide rail; the upper and lower sides of the left side wall of the lifting base are provided with a second guide rail symmetrical to each other; the left side wall of the lifting base is provided with a fourth cylinder mounting plate located between the second guide rails on the upper and lower sides; the fourth cylinder mounting plate is provided with a fourth cylinder matching therewith; the piston rod end of the fourth cylinder is provided with a translation seat located on the left side of the lifting base; the upper and lower sides of the right side wall of the translation seat are provided with a second slider matching the second guide rail; the left side of the front column A trolley is provided between the translation seat on the lifting base and the translation seat on the lifting base located on the left side of the rear column; a plurality of hanging rods are provided on the front and rear sides of the left side wall of the trolley, and are evenly distributed from top to bottom; wheels are provided on the front and rear sides of the lower end of the trolley, which are symmetrical to each other; a support frame is provided on the left side wall of the lower end of the trolley, and the lower surface of the support frame is lower than the lower surface of the wheel; a plurality of hooks are provided on the front and rear sides of the right side wall of the trolley, and are evenly distributed from top to bottom; a plurality of suspension arms corresponding to the positions of the hooks are provided on the side wall of the translation seat opposite to the hooks; and a card slot matching the hooks is provided on the suspension arm.

2. The automatic material feeding device according to claim 1, characterized in that: The gripper assembly includes a manipulator conversion head provided at the end of the six-axis robot; a gripper base plate is provided at the lower end of the manipulator conversion head; three-claw finger cylinders are provided on the left and right sides of the lower surface of the gripper base plate, which are symmetrical to each other; a gripper adapter plate is provided at the lower end of the gripper of the three-claw finger cylinder; a tensioning block matching the gripper adapter plate is provided on the lower surface of the gripper adapter plate; a baffle is provided directly below the gripper adapter plate; a number of movable holes corresponding to the positions of the gripper adapter plate are provided on the baffle, and the lower end of the tensioning block is provided with a plurality of movable holes corresponding to the positions of the gripper adapter plate. Located in the movable hole; the inner ends of several movable holes are connected to each other; the outer edge of the upper surface of the three-claw finger cylinder is provided with several grooves evenly distributed in a circle; the center of the bottom of the groove is provided with a telescopic hole that penetrates the three-claw finger cylinder longitudinally; the baffle is provided with several first screw holes corresponding to the positions of the telescopic holes; the lower end of the first screw passes downward through the telescopic hole and is screwed into the first screw hole, and the head of the first screw fits with the bottom of the groove; a first compression spring is provided between the lower surface of the three-claw finger cylinder and the upper surface of the baffle and is sleeved outside the first screw.

3. The automatic material feeding device according to claim 2, characterized in that: The lower surface of the clamping jaw adapter plate is provided with a plurality of adjustment grooves evenly distributed in the direction away from the center of the three-claw finger cylinder; the upper surface of the tensioning block is provided with an embedded portion matching the adjustment groove; the upper surface of the clamping jaw adapter plate is provided with a plurality of first through-holes connected with the adjustment grooves; the center of the lower surface of the tensioning block is provided with a countersunk hole connected with the first through-hole.

4. The automatic material feeding device according to claim 2, characterized in that: A first cylinder mounting seat is provided on the upper surface of the right end of the clamping jaw base plate; a first cylinder matching it is provided on the right side wall of the first cylinder mounting seat; an upper plate is provided at the lower end of the piston rod of the first cylinder; a lower plate is provided directly below the upper plate; a first suction cup mounting plate is provided on the right side wall of the middle part of the lower plate; a number of evenly distributed first suction cups are provided on the lower surface of the first suction cup mounting plate; second screw holes symmetrical to each other are provided on the front and rear sides of the upper surface of the lower plate; second through holes corresponding to the positions of the second screw holes are provided on the left and right ends of the upper plate; the lower end of the second screw passes downward through the second through hole and is screwed into the second screw hole, and the head of the second screw fits against the upper surface of the upper plate; a second compression spring is provided between the upper plate and the lower plate and is sleeved outside the second screw.

5. The automatic material feeding device according to claim 1, characterized in that: and a second support bracket for the second guide rail, the second support bracket for the second guide rail being arranged in a line relative to the first support bracket and the second support bracket for the second guide rail. The side wall is provided with a second cylinder matching it, and the front end of the piston rod of the second cylinder passes through the front cylinder bracket forward and is provided on the middle part of the rear side wall of the front guide post guide plate; a plurality of front placing rods are provided between the first front guide post bracket and the second front guide post bracket, which are lower than the height of the first front splint and the second front splint; the left and right ends of the first rear guide post bracket are connected to the left and right ends of the second rear guide post bracket through rear guide rods; the front side wall of the first rear guide post bracket is provided with a rear guide post guide plate that fits therewith; the upper part of the front side wall of the rear guide post guide plate is provided with a first rear splint; the left and right ends of the first rear splint are provided with rear guide holes matching the rear guide rod; the upper part of the rear side wall of the second rear guide post bracket is provided with a second rear splint opposite to the first rear splint; the rear side wall of the rear cylinder bracket is provided with a third cylinder matching it; the rear end of the piston rod of the third cylinder is provided on the middle part of the rear side wall of the rear guide post guide plate; a plurality of rear placing rods are provided between the first rear guide post bracket and the second rear guide post bracket, which are lower than the height of the first rear splint and the second rear splint.

6. The automatic material feeding device according to claim 5, characterized in that: The first front guide column bracket is provided with a plurality of first front oblong holes corresponding to the positions of the front placement rods; the second front guide column bracket is provided with a plurality of second front oblong holes corresponding to the positions of the first front oblong holes; the front guide column guide plate is provided with a plurality of third front oblong holes corresponding to the positions of the first front oblong holes; the front end of the front placement rod passes through the first front oblong hole and the third front oblong hole at the same time and is screwed with a first front limit screw matching the front side wall of the first front guide column bracket; the rear end of the front placement rod passes through the second front oblong hole backward and is screwed with a second front limit screw fitting the rear side wall of the second front guide column bracket ; The first rear guide column bracket is provided with a plurality of first rear oblong holes corresponding to the position of the rear placement rod; the second rear guide column bracket is provided with a plurality of second rear oblong holes corresponding to the position of the first rear oblong hole; the rear guide column guide plate is provided with a plurality of third rear oblong holes corresponding to the position of the first rear oblong hole; the rear end of the rear placement rod passes through the first rear oblong hole and the third rear oblong hole backward at the same time and is provided with a first rear limit screw that fits with the rear side wall of the first rear guide column bracket; the front end of the rear placement rod passes through the second rear oblong hole forward and is provided with a second rear limit screw that fits with the front side wall of the second rear guide column bracket.

7. The automatic material feeding device according to claim 5, characterized in that: The front column and the rear column are both tubular; the upper end surface of the front column is provided with a front cover plate, which covers and seals the pipe opening at the upper end of the front column; the upper end surface of the rear column is provided with a rear cover plate, which covers and seals the pipe opening at the upper end of the rear column; the front cover plate and the rear cover plate are connected by a connecting plate; the left side of the middle of the front cover plate is provided with a front notch that penetrates the pipe opening at the upper end of the front column; the left side of the middle of the rear cover plate is provided with a rear notch that penetrates the pipe opening at the upper end of the rear column; the front side of the upper surface of the front cover plate and the rear side of the upper surface of the rear cover plate are both provided with a first bearing seat; the rear side of the upper surface of the front cover plate and the front side of the upper surface of the rear cover plate are both provided with a second bearing seat opposite to the first bearing seat; the second bearing seat is provided with a worm gear reducer matching it; a servo motor matching it is provided above the worm gear reducer; Both the first bearing seat and the second bearing seat are provided with bearing holes; the output shaft of the worm gear reducer passes through the bearing holes on the first bearing seat and the second bearing seat at the same time, and the output shaft of the worm gear reducer is connected to the bearing hole through the first bearing; the output shaft of the worm gear reducer is provided with an upper sprocket located between the first bearing seat and the second bearing seat; the lower left side walls of the front column and the rear column are both provided with rotating openings that are connected to their respective internal spaces; a fixed shaft corresponding to the position of the rotating opening is provided in the lower part of the front column and the rear column; a lower sprocket corresponding to the position of the upper sprocket is provided on the fixed shaft; an axial hole is provided in the center of the lower sprocket, and the fixed shaft passes through the axial hole; a second bearing is provided between the inner wall of the axial hole and the outer wall of the fixed shaft; the upper sprocket and the lower sprocket are connected by a roller chain.

8. The automatic material feeding device according to claim 1, characterized in that: The material turning device includes a left column base arranged at the left rear of the frame; a left column is provided at the center of the upper surface of the left column base; a top plate is provided at the upper end of the left column; a material transfer plate is provided at the right front of the upper surface of the top plate; a rotary cylinder mounting plate is provided at the left rear of the upper surface of the top plate; a rotary cylinder matching it is provided on the right side wall of the rotary cylinder mounting plate; a rotating bracket matching it is provided on the rotary cylinder; a rotating adapter plate is provided at the upper end of the rotating bracket; a material suction cup bottom plate is provided at the right end of the rotating adapter plate; a plurality of second suction cups evenly distributed in a circle are provided on the front side wall of the material suction cup bottom plate.

9. The automatic material feeding device according to claim 8, characterized in that: The bottom plate of the material suction cup is provided with a plurality of fourth oblong holes corresponding to the position of the second suction cup; the air pipe at the rear end of the second suction cup passes through the corresponding fourth oblong holes and is screwed with a front limit nut and a rear limit nut at the same time, the front limit nut fits in contact with the front side wall of the bottom plate of the material suction cup, and the rear limit nut fits in contact with the rear side wall of the bottom plate of the material suction cup.

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