Flexible automatic feeding machine and control method thereof

Abstract

The invention relates to a flexible automatic feeding machine and a control method thereof, and belongs to the technical field of product assembling equipment, the flexible automatic feeding machine comprises an assembly carrying mechanism, a plastic sliding seat feeding mechanism is arranged at the rear end of the assembly carrying mechanism, and a slider feeding mechanism is arranged on the side edge of the plastic sliding seat feeding mechanism. The plastic sliding seat feeding mechanism comprises a plastic sliding seat feeding rack, a vibration disc is arranged on the plastic sliding seat feeding rack, and a straight vibration table is arranged between the vibration disc and the assembly carrying mechanism. The slider feeding mechanism comprises a slider feeding rack, a flexible vibration disc is arranged on the slider feeding rack, a camera is arranged above the flexible vibration disc, and a clamping jaw mechanical arm is arranged between the flexible vibration disc and the assembly carrying mechanism. The assembly carrying mechanism comprises a moving seat, and a clamping jaw and a suction cup are arranged at the front end of the moving seat. The device has the advantages of compact structure, time and labor saving, high efficiency and good operation stability. The problem of synchronous feeding of the plastic sliding seat and the slider is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of product assembly equipment, and in particular to a flexible automatic feeder and a control method thereof. Background Art

[0002] In order to cater to the needs of the public, vehicles of the same brand will have various models. As seat belts are devices that come into direct contact with people, in order to adapt to different groups of people and taking into account the standardization of products, it is necessary to use a sliding device to adjust the installation height of the seat belts.

[0003] There are relatively mature assembly processes for seat belt sliding devices on the market. However, the plastic slide and slider are one of the main components of the sliding device. Due to their large size, non-uniqueness of the discharge method, and rhythm and other factors, the loading is mainly done manually in the market. Therefore, a loader with strong flexibility is needed to meet the various needs of actual production. Summary of the invention

[0004] The present invention mainly solves the deficiencies in the prior art and provides a flexible automatic feeder and a control method thereof, which has the advantages of compact structure, time and labor saving, high efficiency and good operation stability. It solves the problem of synchronous feeding of the plastic slide and the slider. It realizes non-stop feeding and can adjust the product to the required position angle at the same time, without the need for frequent manual feeding.

[0005] The above technical problems of the present invention are mainly solved by the following technical solutions: A flexible automatic feeding machine comprises an assembly transport mechanism, a plastic slide feeding mechanism is arranged at the rear end of the assembly transport mechanism, and a slider feeding mechanism is arranged at the side of the plastic slide feeding mechanism.

[0006] The plastic slide feeding mechanism comprises a plastic slide feeding frame, a vibration plate is arranged on the plastic slide feeding frame, and a straight vibration table is arranged between the vibration plate and the assembly transport mechanism.

[0007] The slider loading mechanism comprises a slider loading frame, a flexible vibration plate is arranged on the slider loading frame, a camera is arranged above the flexible vibration plate, and a gripper mechanical arm is arranged between the flexible vibration plate and the assembly handling mechanism.

[0008] The assembly transport mechanism includes a moving seat, a front end of which is provided with a clamp and a suction cup, a clamp frame is provided between the clamp and the moving seat, a suction cup frame is provided between the suction cup and the moving seat, and a lifting cylinder II is provided between the clamp frame and the clamp, and between the suction cup frame and the suction cup.

[0009] Preferably, a plastic slide transplanting mechanism is provided between the plastic slide feeding mechanism and the assembly transport mechanism, and the plastic slide transplanting mechanism includes a screw module I, on which a transplanting jig is provided, and a position sensor is provided at the upper end of the transplanting jig for detecting whether the product is placed in place, and a screw motor I is provided on one side of the screw module I for driving the displacement of the transplanting jig.

[0010] Preferably, a slider flipping and conveying mechanism is provided between the slider feeding mechanism and the assembly handling mechanism, and the slider flipping and conveying mechanism includes a clamping fixture, a plurality of air claws are provided on the clamping fixture, a rotating motor is provided at the rear end of the air claw, a lifting cylinder I is provided at the lower end of the rotating motor, a cache platform is provided between the air claw and the clamping fixture, and a belt conveyor fixedly connected to the clamping fixture is provided in the cache platform.

[0011] Preferably, a radiation sensor is provided on the side of the front end of the straight vibration table, a sensing movable cylinder is provided above the sensing movable cylinder, a reflection sensor corresponding to the radiation sensor is provided on the side of the sensing movable cylinder, a suction cup is provided between the sensing movable cylinder and the straight vibration table, and a swing cylinder is provided between the suction cup and the sensing movable cylinder.

[0012] Preferably, a material dumping lifting cylinder is provided at the rear end of the vibration plate, and a plastic sliding seat silo is provided between the vibration plate and the material dumping lifting cylinder.

[0013] Preferably, a feeding belt conveyor is provided on the side of the flexible vibration disk, a transfer belt conveyor is provided between the rear end of the feeding belt conveyor and the flexible vibration disk, and a slideway groove is provided between the transfer belt conveyor and the flexible vibration disk.

[0014] Preferably, a screw module II is provided on the movable seat, and a screw motor II is provided on one side of the screw module II for driving the movable seat to move laterally.

[0015] A flexible automatic feeder and a control method thereof, comprising the following operating steps: The first step: the plastic slide flows out to the straight vibration table through the vibration plate, and the through-beam sensor is used to detect whether the plastic slide is in place, and then the reflection sensor is used to determine the positive and negative conditions of the plastic slide discharge; when the plastic slide is placed toward the discharge, the suction cup is driven to move by the sensing moving cylinder, and then the swing cylinder is rotated 180 degrees to correct the discharge direction.

[0016] The slider is transported to the flexible vibration plate through the feeding belt conveyor and the transfer belt conveyor. The camera is used to detect the discharge surface of the slider, and the slider is vibrated into the required front orientation with the cooperation of the flexible vibration plate.

[0017] Step 2: The plastic slide is transported to the transplanting jig through the suction cup. After the position sensor detects that the plastic slide is in place, the screw module I is used to drive the plastic slide on the transplanting jig to move horizontally, waiting to be taken away at the same time as the slider.

[0018] Step 3: Use the gripper robot arm to clamp the slider from the flexible vibration plate to the buffer platform of the slider flipping conveying mechanism, and use the sensor at the gripper fixture to detect whether the slider is facing the reverse side.

[0019] Step 4: The plastic slide on the transplanting jig is clamped by the clamping claws, and the slider on the buffer platform is sucked by the suction cup. The screw module II drives the moving seat to synchronously pick up the plastic slide and the slider and transport them to the next process.

[0020] Preferably, when the plastic slide in the vibration plate is insufficient, the plastic slide in the plastic slide bin is poured into the vibration plate for replenishment by stretching the material pouring lifting cylinder.

[0021] Preferably, when the slider is facing the reverse side on the clamping fixture, it is clamped by the air claw, and the lifting cylinder I stretches to drive the air claw to rise, and then the rotating motor drives the air claw to drive the slider to rotate and flip over, and then the lifting cylinder I descends, and after the air claw is released, the slider is transported to the front end of the cache platform by a belt conveyor.

[0022] The present invention can achieve the following effects: The present invention provides a flexible automatic feeder and a control method thereof, which, compared with the prior art, has the advantages of compact structure, time and labor saving, high efficiency and good operation stability. The problem of synchronous feeding of the plastic slide and the slider is solved. The feeding is realized without stopping the machine, and the product can be adjusted to the required position angle at the same time, without the need for frequent manual feeding.

[0023] In terms of automation, compared with the conventional semi-automatic operation of people and tooling, it not only reduces labor intensity and saves labor costs, but also shortens the entire production line product cycle. In terms of operability, only the corresponding parts are placed in the designated position, the sensor automatically completes the detection, and the equipment can operate automatically. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the top structure of the present invention.

[0025] Figure 2 It is a side structural schematic diagram of the plastic slide feeding mechanism of the present invention.

[0026] Figure 3 It is a schematic diagram of the top view of the slider feeding mechanism of the present invention.

[0027] Figure 4It is a front view structural schematic diagram of the slider feeding mechanism of the present invention.

[0028] Figure 5 It is a top view structural schematic diagram of the plastic slide transplanting mechanism of the present invention.

[0029] Figure 6 It is a schematic diagram of the top view of the slider flipping and conveying mechanism of the present invention.

[0030] Figure 7 It is a side structural schematic diagram of the slider flipping and conveying mechanism of the present invention.

[0031] Figure 8 It is a schematic diagram of the structure of the assembly transport mechanism of the present invention from a top view.

[0032] Fig. 9 It is a side structural schematic diagram of the assembly transport mechanism of the present invention.

[0033] Fig.10 It is a structural schematic diagram of the plastic slide seat of the present invention.

[0034] Fig.11 It is a schematic structural diagram of the slider of the present invention.

[0035] In the figure: plastic slide feeding mechanism 1, slider feeding mechanism 2, slider flipping conveying mechanism 3, assembly handling mechanism 4, plastic slide transplanting mechanism 5, reflection sensor 6, sensor moving cylinder 7, straight vibration table 8, vibration plate 9, plastic slide silo 10, pouring lifting cylinder 11, plastic slide feeding frame 12, through-shooting sensor 13, suction cup 14, swing cylinder 15, camera 16, slider feeding frame 17, transfer belt conveyor 18, feeding belt Machine 19, gripper robot arm 20, flexible vibration plate 21, slideway trough 22, transplanting fixture 23, screw module I 24, position sensor 25, screw motor I 26, cache platform 27, gripper fixture 28, air claw 29, rotating motor 30, belt conveyor 31, lifting cylinder I 32, moving seat 33, screw module II 34, screw motor II 35, gripper frame 36, suction cup frame 37, gripper 38, suction cup 39, lifting cylinder II 40. DETAILED DESCRIPTION

[0036] The technical solution of the invention is further specifically described below through embodiments and in conjunction with the accompanying drawings.

[0037] Example: Figure 1-11 As shown, a flexible automatic feeding machine comprises an assembly transport mechanism 4, a plastic slide feeding mechanism 1 is provided at the rear end of the assembly transport mechanism 4, and a slider feeding mechanism 2 is provided at the side of the plastic slide feeding mechanism 1.

[0038] The plastic slide feeding mechanism 1 comprises a plastic slide feeding frame 12, a vibration plate 9 is arranged on the plastic slide feeding frame 12, a material dumping lifting cylinder 11 is arranged at the rear end of the vibration plate 9, and a plastic slide material bin 10 is arranged between the vibration plate 9 and the material dumping lifting cylinder 11. A straight vibration table 8 is arranged between the vibration plate 9 and the assembly handling mechanism 4, a beam sensor 13 is arranged on the front side of the straight vibration table 8, a sensing moving cylinder 7 is arranged above the beam sensor 13, a reflection sensor 6 corresponding to the beam sensor 13 is arranged on the side of the sensing moving cylinder 7, a suction cup 14 is arranged between the sensing moving cylinder 7 and the straight vibration table 8, and a swing cylinder 15 is arranged between the suction cup 14 and the sensing moving cylinder 7.

[0039] The slider feeding mechanism 2 includes a slider feeding frame 17, a flexible vibration plate 21 is provided on the slider feeding frame 17, a camera 16 is provided above the flexible vibration plate 21, and a gripper mechanical arm 20 is provided between the flexible vibration plate 21 and the assembly handling mechanism 4. A feeding belt conveyor 19 is provided on the side of the flexible vibration plate 21, a transfer belt conveyor 18 is provided between the rear end of the feeding belt conveyor 19 and the flexible vibration plate 21, and a slideway groove 22 is provided between the transfer belt conveyor 18 and the flexible vibration plate 21.

[0040] The assembly transport mechanism 4 includes a moving seat 33, a clamping claw 38 and a suction cup 39 are provided at the front end of the moving seat 33, a clamping claw frame 36 is provided between the clamping claw 38 and the moving seat 33, a suction cup frame 37 is provided between the suction cup 39 and the moving seat 33, and a lifting cylinder II 40 is provided between the clamping claw frame 36 and the clamping claw 38, and between the suction cup frame 37 and the suction cup 39. A screw module II 34 is provided on the moving seat 33, and a screw motor II 35 for driving the lateral displacement of the moving seat 33 is provided on one side of the screw module II 34.

[0041] A plastic slide transfer mechanism 5 is provided between the plastic slide feeding mechanism 1 and the assembly transport mechanism 4. The plastic slide transfer mechanism 5 includes a screw module Ⅰ24. A transfer jig 23 is provided on the screw module Ⅰ24. A position sensor 25 is provided at the upper end of the transfer jig 23 for detecting whether the product is placed in place. A screw motor Ⅰ26 is provided on one side of the screw module Ⅰ24 for driving the transfer jig 23 to move.

[0042] A slider flipping and conveying mechanism 3 is provided between the slider feeding mechanism 2 and the assembly transport mechanism 4. The slider flipping and conveying mechanism 3 includes a gripper fixture 28. Two groups of air grippers 29 are provided on the gripper fixture 28. A rotating motor 30 is provided at the rear end of the air gripper 29. A lifting cylinder Ⅰ 32 is provided at the lower end of the rotating motor 30. A buffer platform 27 is provided between the air gripper 29 and the gripper fixture 28. A belt conveyor 31 fixedly connected to the gripper fixture 28 is provided in the buffer platform 27.

[0043] A control method for a flexible automatic feeder includes the following steps: Step 1: The plastic slide flows out to the straight vibration table 8 through the vibration plate 9, and the through-beam sensor 13 is used to detect whether the plastic slide is in place, and then the reflection sensor 6 is used to determine the positive and negative conditions of the plastic slide discharge. When the plastic slide is placed toward the discharge, the sensor moving cylinder 7 drives the suction cup 14 to move, and then the swing cylinder 15 rotates 180 degrees to correct the discharge direction.

[0044] When the plastic slide in the vibration plate 9 is insufficient, the plastic slide in the plastic slide bin 10 is poured into the vibration plate 9 for replenishment through the stretching of the material pouring lifting cylinder 11 .

[0045] The slider is transported to the flexible vibration plate 21 through the feeding belt conveyor 19 and the transfer belt conveyor 18. The camera 16 is used to detect the discharge surface of the slider. With the cooperation of the flexible vibration plate 21, the slider is vibrated to the required front orientation.

[0046] Step 2: The plastic slide is transported to the transplanting jig 23 through the suction cup 14. After the position sensor 25 detects that the plastic slide is in place, the screw module I 24 is used to drive the plastic slide on the transplanting jig 23 to move horizontally, waiting to be taken away at the same time as the slider.

[0047] Step 3: The slider is clamped from the flexible vibration plate 21 to the buffer platform 27 of the slider flipping and conveying mechanism 3 by the gripper robot 20, and the sensor is used to detect whether the slider is facing the reverse side at the gripper fixture 28.

[0048] When the slider is facing the reverse side on the clamping fixture 28, it is clamped by the air claw 29, and the lifting cylinder I 32 stretches and drives the air claw 29 to rise. Then the rotating motor 30 drives the air claw 29 to drive the slider to rotate and turn over. Then the lifting cylinder I 32 descends. After the air claw 29 is released, the belt conveyor 31 is used to transport the slider to the front end of the cache platform 27.

[0049] Step 4: The plastic slide on the transplanting jig 23 is clamped by the clamp 38, and the slider on the buffer platform 27 is sucked by the suction cup 39. The screw module II 34 drives the moving seat 33 to synchronously pick up the plastic slide and the slider and transport them to the next process.

[0050] In summary, the flexible automatic feeder and its control method have the advantages of compact structure, time and labor saving, high efficiency and good operation stability. It solves the problem of synchronous feeding of the plastic slide and the slider. It realizes non-stop feeding and can adjust the product to the required position angle without frequent manual feeding.

[0051] The above description is only a specific embodiment of the present invention, but the structural features of the present invention are not limited thereto. Any changes or modifications made by any technician in the field of the present invention are included in the patent scope of the present invention.

Claims

1. A flexible automatic feeding machine, characterized in that: It comprises an assembly transport mechanism (4), wherein a plastic slide loading mechanism (1) is provided at the rear end of the assembly transport mechanism (4), and a slider loading mechanism (2) is provided at the side of the plastic slide loading mechanism (1); The plastic slide feeding mechanism (1) comprises a plastic slide feeding frame (12), a vibration plate (9) is provided on the plastic slide feeding frame (12), and a straight vibration table (8) is provided between the vibration plate (9) and the assembly transport mechanism (4); The slider loading mechanism (2) comprises a slider loading frame (17), a flexible vibration plate (21) is provided on the slider loading frame (17), a camera (16) is provided above the flexible vibration plate (21), and a gripper mechanical arm (20) is provided between the flexible vibration plate (21) and the assembly transport mechanism (4); The assembly transport mechanism (4) comprises a movable seat (33), a front end of which is provided with a clamping claw (38) and a suction cup (39), a clamping claw frame (36) is provided between the clamping claw (38) and the movable seat (33), a suction cup frame (37) is provided between the suction cup (39) and the movable seat (33), and a lifting cylinder II (40) is provided between the clamping claw frame (36) and the clamping claw (38) and between the suction cup frame (37) and the suction cup (39).

2. The flexible automatic feeding machine according to claim 1, characterized in that: A plastic slide transfer mechanism (5) is provided between the plastic slide feeding mechanism (1) and the assembly transport mechanism (4), and the plastic slide transfer mechanism (5) comprises a screw module I (24), a transfer jig (23) is provided on the screw module I (24), a position sensor (25) for detecting whether the product is placed in place is provided at the upper end of the transfer jig (23), and a screw motor I (26) for driving the transfer jig (23) to move is provided on one side of the screw module I (24).

3. The flexible automatic feeder according to claim 1, characterized in that: A slider flipping and conveying mechanism (3) is provided between the slider feeding mechanism (2) and the assembly transport mechanism (4), and the slider flipping and conveying mechanism (3) comprises a gripper fixture (28), a plurality of air grippers (29) are provided on the gripper fixture (28), a rotating motor (30) is provided at the rear end of the air grippers (29), a lifting cylinder I (32) is provided at the lower end of the rotating motor (30), a buffer platform (27) is provided between the air grippers (29) and the gripper fixture (28), and a belt conveyor (31) fixedly connected to the gripper fixture (28) is provided in the buffer platform (27).

4. The flexible automatic feeding machine according to claim 1, characterized in that: A beam sensor (13) is provided on the front side of the straight vibration table (8), a sensing movable cylinder (7) is provided above the sensing movable cylinder (13), a reflection sensor (6) corresponding to the beam sensor (13) is provided on the side of the sensing movable cylinder (7), a suction cup (14) is provided between the sensing movable cylinder (7) and the straight vibration table (8), and a swing cylinder (15) is provided between the suction cup (14) and the sensing movable cylinder (7).

5. The flexible automatic feeding machine according to claim 1, characterized in that: A material dumping lifting cylinder (11) is provided at the rear end of the vibration plate (9), and a plastic sliding seat bin (10) is provided between the vibration plate (9) and the material dumping lifting cylinder (11).

6. The flexible automatic feeding machine according to claim 1, characterized in that: A feeding belt conveyor (19) is provided on the side of the flexible vibration plate (21), a transfer belt conveyor (18) is provided between the rear end of the feeding belt conveyor (19) and the flexible vibration plate (21), and a slideway groove (22) is provided between the transfer belt conveyor (18) and the flexible vibration plate (21).

7. The flexible automatic feeding machine according to claim 1, characterized in that: A screw module II (34) is provided on the movable seat (33), and a screw motor II (35) for driving the movable seat (33) to move laterally is provided on one side of the screw module II (34).

8. A control method for a flexible automatic feeder, characterized in that: The flexible automatic loading machine comprises an assembly transport mechanism (4), the rear end of the assembly transport mechanism (4) is provided with a plastic slide loading mechanism (1), and the side of the plastic slide loading mechanism (1) is provided with a slider loading mechanism (2); The plastic slide feeding mechanism (1) comprises a plastic slide feeding frame (12), a vibration plate (9) is provided on the plastic slide feeding frame (12), a material dumping lifting cylinder (11) is provided at the rear end of the vibration plate (9), and a plastic slide material bin (10) is provided between the vibration plate (9) and the material dumping lifting cylinder (11); a straight vibration table (8) is provided between the vibration plate (9) and the assembly handling mechanism (4), a front end side edge of the straight vibration table (8) is provided with a counter-shooting sensor (13), a sensing moving cylinder (7) is provided above the counter-shooting sensor (13), a reflection sensor (6) corresponding to the counter-shooting sensor (13) is provided on the side of the sensing moving cylinder (7), a suction cup (14) is provided between the sensing moving cylinder (7) and the straight vibration table (8), and a swing cylinder (15) is provided between the suction cup (14) and the sensing moving cylinder (7); The slider loading mechanism (2) comprises a slider loading frame (17), a flexible vibration plate (21) is provided on the slider loading frame (17), a camera (16) is provided above the flexible vibration plate (21), and a gripper mechanical arm (20) is provided between the flexible vibration plate (21) and the assembly handling mechanism (4); a loading belt conveyor (19) is provided on the side of the flexible vibration plate (21), a transfer belt conveyor (18) is provided between the rear end of the loading belt conveyor (19) and the flexible vibration plate (21), and a slideway groove (22) is provided between the transfer belt conveyor (18) and the flexible vibration plate (21); The assembly transport mechanism (4) comprises a movable seat (33), the front end of the movable seat (33) is provided with a clamping claw (38) and a suction cup (39), a clamping claw frame (36) is provided between the clamping claw (38) and the movable seat (33), a suction cup frame (37) is provided between the suction cup (39) and the movable seat (33), and a lifting cylinder II (40) is provided between the clamping claw frame (36) and the clamping claw (38) and between the suction cup frame (37) and the suction cup (39); a screw module II (34) is provided on the movable seat (33), and a screw motor II (35) for driving the movable seat (33) to move laterally is provided on one side of the screw module II (34); A plastic slide transfer mechanism (5) is provided between the plastic slide feeding mechanism (1) and the assembly transport mechanism (4), the plastic slide transfer mechanism (5) comprising a screw module I (24), a transfer jig (23) being provided on the screw module I (24), a position sensor (25) being provided at the upper end of the transfer jig (23) for detecting whether the product is placed in place, and a screw motor I (26) for driving the transfer jig (23) to move is provided on one side of the screw module I (24); A slider flipping and conveying mechanism (3) is provided between the slider feeding mechanism (2) and the assembly transport mechanism (4), the slider flipping and conveying mechanism (3) comprising a gripper fixture (28), a plurality of air grippers (29) being provided on the gripper fixture (28), a rotating motor (30) being provided at the rear end of the air grippers (29), a lifting cylinder I (32) being provided at the lower end of the rotating motor (30), a buffer platform (27) being provided between the air grippers (29) and the gripper fixture (28), and a belt conveyor (31) being fixedly connected to the gripper fixture (28) being provided in the buffer platform (27); The steps are as follows: Step 1: The plastic slide flows out to the straight vibration table (8) through the vibration plate (9), and the through-beam sensor (13) is used to detect whether the plastic slide is in place, and then the reflection sensor (6) is used to determine the front and back conditions of the plastic slide discharge; when the plastic slide is placed toward the discharge, the suction cup (14) is driven to move by the sensing moving cylinder (7), and then the swing cylinder (15) is rotated 180 degrees to correct the discharge direction; The slider is conveyed to the flexible vibration plate (21) via a feeding belt conveyor (19) and a transfer belt conveyor (18), a camera (16) is used to detect the discharge surface of the slider, and the slider is vibrated to a desired front orientation with the cooperation of the flexible vibration plate (21); Step 2: The plastic slide is transported to the transplanting jig (23) by the suction cup (14). After the position sensor (25) detects that the plastic slide is in place, the screw module I (24) is used to drive the plastic slide on the transplanting jig (23) to move horizontally, waiting to be taken away at the same time as the slider; Step 3: The slider is clamped from the flexible vibration plate (21) to the buffer platform (27) of the slider flipping and conveying mechanism (3) by the gripper mechanical arm (20), and a sensor is used at the gripper fixture (28) to detect whether the slider is facing the reverse side; Step 4: The plastic slide on the transplanting jig (23) is clamped by the clamp (38), and the slider on the buffer platform (27) is sucked by the suction cup (39). The screw module II (34) drives the moving seat (33) to synchronously pick up the plastic slide and the slider and transport them to the next process.

9. The control method of the flexible automatic feeder according to claim 8, characterized in that: When the plastic slide seats in the vibration plate (9) are insufficient, the plastic slide seats in the plastic slide seat bin (10) are poured into the vibration plate (9) for replenishment by stretching the material pouring lifting cylinder (11).

10. The control method of the flexible automatic feeder according to claim 8, characterized in that: When the slider is facing the reverse side on the clamping fixture (28), it is clamped by the air claw (29), and then the lifting cylinder I (32) stretches and drives the air claw (29) to rise, and then the rotating motor (30) drives the air claw (29) to drive the slider to rotate and turn over, and then the lifting cylinder I (32) descends, and after the air claw (29) is released, the slider is transported to the front end of the buffer platform (27) by the belt conveyor (31).

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