Single flexible coil loading and unloading machine

Abstract

The utility model discloses a single flexible coil loading and unloading machine, including a four-axis manipulator, a transfer fixture plate, a six-axis manipulator, a flexible vibration plate, and a vibration plate silo located on one side of a powder forming machine. The outlet of the vibration plate silo is located above the flexible vibration plate. The lower end of the four-axis manipulator is provided with multiple pairs of pneumatic grippers driven by a finger cylinder respectively. A vibration plate CCD camera is provided above the flexible vibration plate. The four-axis manipulator is connected to the flexible vibration plate and the transfer fixture plate; the six-axis manipulator is provided with a loading plate and a receiving plate, and the transfer fixture plate is provided with multiple coil slots. A material plate CCD camera is provided on the loading and unloading platform. The loading plate and the receiving plate can be moved to the top of the material plate CCD camera respectively. The six-axis manipulator is connected to the transfer fixture plate and the powder forming machine. The four-axis manipulator of the utility model does not need to place the materials equidistantly when sucking the materials, thereby improving the accuracy of the loading.

Description

Technical Field

[0001] The utility model relates to the field of loading and unloading of coils, in particular to a loading and unloading machine for a single flexible coil. Background Art

[0002] At present, the loading and unloading of coil forming is realized by automated equipment. For example, in the invention patent published on May 12, 2020, with the publication number CN111145998A, a flattened coil loading and unloading machine is disclosed. The robot first transports the flattened coil to the middle mold of the press, and then the press fills it with powder for molding. The robot takes the finished product and finally automatically collects the material to realize automated operation. The material of the flattened coil loading and unloading machine is poured into the loading funnel, and needs to first fall from the front side of the No. 1 straight vibrator to the No. 2 straight vibrator, and then fall to the conveyor belt at an equal distance after the No. 2 straight vibrator.

[0003] The flattened coil loading and unloading machine needs to be equipped with two straight vibrations to place the materials equidistantly on the conveyor belt, and its structure is relatively complex. The materials need to be placed equidistantly on the conveyor belt before they can be adsorbed and moved to the transfer fixture by the four-axis robot. The position of the materials on the conveyor belt must be precise. Once there is an offset, the four-axis robot will not be able to absorb the materials to the transfer fixture. Utility Model Content

[0004] In order to overcome the above shortcomings, the purpose of the utility model is to provide a single flexible coil loading and unloading machine which does not need to place materials at equal distances when a four-axis manipulator sucks materials and improves the loading accuracy.

[0005] In order to achieve the above purpose, one of the technical solutions adopted by the utility model is: a single flexible coil loading and unloading machine, including a loading and unloading platform located on one side of a powder molding machine, a four-axis manipulator, a transfer fixture disk, and a six-axis manipulator are arranged on the loading and unloading platform, and also includes a flexible vibration disk and a vibration disk silo. The outlet of the vibration disk silo is located above the flexible vibration disk, and a plurality of pairs of pneumatic grippers are arranged at the lower end of the four-axis manipulator, each pair of the pneumatic grippers is driven by a finger cylinder, a vibration disk CCD camera is arranged above the flexible vibration disk, and the four-axis manipulator is connected to the flexible vibration disk and the transfer fixture disk;

[0006] The six-axis manipulator is provided with a loading tray and a receiving tray, and the loading tray and the receiving tray are respectively provided with a plurality of discharge claws and a plurality of picking claws, and the transfer fixture tray is provided with a plurality of coil slots, and the number and spacing of the discharge claws, the picking claws and the coil slots are consistent, and a tray CCD camera is provided on the loading and unloading platform, and the loading tray and the receiving tray can be moved to the top of the tray CCD camera respectively, and the six-axis manipulator is connected to the transfer fixture tray and the powder forming machine.

[0007] The beneficial effects of the single flexible coil loading and unloading machine of the utility model are:

[0008] First, a flexible vibration plate, a vibration plate silo, multiple pairs of independently controlled pneumatic grippers and a vibration plate CCD camera are used. The vibration plate CCD camera is used to monitor whether the coil in the flexible vibration plate is facing a specific direction. Once facing a specific direction, multiple pairs of pneumatic grippers grab the coils facing the specific direction in the flexible vibration plate one by one, and then place them one by one in multiple coil slots of the transfer fixture plate, replacing the existing No. 1 direct vibration, No. 2 direct vibration and equidistant dropping onto the conveyor belt. There is no need to ensure that the coil materials are placed equidistantly, which is conducive to loading onto the transfer fixture plate and improves the accuracy of loading onto the transfer fixture plate.

[0009] Secondly, after the loading tray on the six-axis robot synchronously grabs multiple coil slots on the transfer fixture tray, the tray CCD camera monitors whether the loading tray and the receiving tray have missed any coil materials, thus solving the possible material shortage problem.

[0010] Preferably, it also includes a material pushing assembly, a finished product unloading tray assembly, a material feeding tray assembly, and a material receiving tray assembly which are sequentially arranged on the unloading and loading platform;

[0011] The finished product unloading tray assembly includes an unloading tray, and a plurality of unloading X-axis slide grooves are arranged on the upper surface of the unloading tray to receive a plurality of finished coil products transferred from the unloading tray;

[0012] The feed tray assembly includes a feed tray, a plurality of feed X-axis slide grooves are arranged on the upper surface of the feed tray, the feed tray is driven by a feed-pick-up driving source to move back and forth in the Y-axis direction, and a pick-up finger is arranged above the feed tray, and the pick-up finger is driven by the feed-pick-up driving source to move back and forth in the X-axis direction and the Y-axis direction;

[0013] The material receiving tray assembly comprises a material tray, and a plurality of material receiving X-axis slide grooves are arranged on the upper end surface of the material tray;

[0014] The feeding X-axis chute can correspond to at least part of the unloading X-axis chute and at least part of the receiving X-axis chute, the pushing assembly can push the finished coils in the unloading X-axis chute into the feeding X-axis chute, and the picking finger can push the finished coils in the feeding X-axis chute into the receiving X-axis chute corresponding to the feeding X-axis chute.

[0015] The present application comprises a pushing assembly, a finished product unloading tray assembly, a feeding tray assembly and a receiving tray assembly to form a receiving operation for the finished coil products, thereby replacing manual receiving and improving efficiency; a unloading X-axis chute is used to store a plurality of finished coil products, which are pushed into the feeding X-axis chute by the pushing assembly, and then the finished coil products in the feeding X-axis chute are pushed into the receiving X-axis chute for storage by the picking finger; the unloading tray and the receiving tray can be connected by moving back and forth in the Y-axis direction, and the structure is compact.

[0016] Preferably, the pusher assembly includes at least one pusher rod driven by a pusher driving source, and the pusher rod can extend from the unloading X-axis chute to the feeding X-axis chute through the driving energy of the pusher driving source. The pusher rod can push the finished coil in the unloading X-axis chute into the feeding X-axis chute.

[0017] Preferably, the push drive source includes a push servo motor, two push pulleys, and a push belt. The two push pulleys are rotatably arranged on the loading and unloading platform, one of which is driven by the push servo motor. The push rod is fixed on the connecting plate. The loading and unloading platform is provided with a connecting plate that can slide in the X-axis direction through the cooperation and sliding of the slide rail and the slider. The connecting plate is connected and fixed to the push belt, and a sensor is provided at the terminal of the slide rail. The push servo motor, the two push pulleys, and the push belt are used to drive the push rod to move back and forth in the X-axis direction, and the sensor is used to provide a limit for the movement of the push rod.

[0018] Preferably, the unloading tray can move back and forth in the Y-axis through the Y-axis driving source, and the Y-axis driving source includes a Y-axis cylinder arranged horizontally and a push slide slidably arranged on the loading and unloading platform, and the Y-axis cylinder drives the push slide to slide back and forth in the Y-axis direction, and the unloading tray can be lifted and lowered above the push slide by the cooperation of multiple guide columns and guide sleeves, and the push slide is provided with two adjusting cylinders, and the two adjusting cylinders synchronously drive the unloading tray to rise and fall, and the loading and unloading platform is provided with two limiters located on both sides of the push slide. Both the unloading tray and the feeding tray can move in the Y-axis direction, and the unloading X-axis chute and the feeding X-axis chute can quickly correspond, and the height of the unloading tray in the Z-axis direction is adjustable to adapt to different working conditions.

[0019] Preferably, the feed and material tapping drive source includes a feed servo motor, two feed pulleys, and a feed belt. The two feed pulleys are rotatably arranged on the loading and unloading platform, one of the feed pulleys is driven by the feed servo motor, and a feed bracket that can slide back and forth in the Y-axis direction is slidably arranged on the loading and unloading platform, the feed bracket is fixed on the feed belt, the feed disc is arranged on the feed bracket, and a tapping bracket that can slide along the X-axis direction is arranged on the top of the feed bracket, a tapping cylinder that is longitudinally arranged to drive the tapping finger to rise and fall is arranged on the tapping bracket, a rack running in the X-axis direction is arranged on the feed bracket, and a gear meshing with the rack is rotatably arranged on the tapping bracket, and the gear is driven by the tapping motor. The feeding servo motor, two feeding pulleys and feeding belt are used to drive the feeding bracket to move back and forth in the Y-axis direction, and then drive the feeding plate to move back and forth in the Y-axis direction. The feeding cylinder is used to drive the feeding finger to extend into the feeding X-axis chute or away from the feeding X-axis chute. The feeding motor, rack and gear are used to drive the feeding finger to move back and forth in the X-axis direction.

[0020] Preferably, the feed tray includes a fixed feed tray and a movable feed tray, the movable feed tray is located on one side of the fixed feed tray and is driven by a feed cylinder fixed to the feed bracket, and the movable feed tray moves toward or away from the fixed feed tray in the Y-axis direction. The distance between the movable feed tray and the fixed feed tray can be adjusted to adapt to collecting coil products with different intervals.

[0021] Preferably, the receiving tray assembly includes a material frame, and a plurality of the material trays are provided, and the plurality of the material trays are stacked in the material frame. A lifting cylinder for lifting the plurality of material trays is provided below the material frame, and the material trays of each layer can be flush with the feed tray through the driving of the lifting cylinder. After the topmost material tray is filled with finished coils, the lifting cylinder pushes the second material tray to be flush with the feed tray, and then the second material tray is loaded, until all the material trays are filled with materials, and then the material frame is removed and replaced with a material frame of an empty material tray. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A three-dimensional diagram of the embodiment in cooperation with a powder forming machine

[0023] Figure 2 is a three-dimensional diagram of this embodiment;

[0024] Figure 3 A three-dimensional diagram of two pairs of pneumatic grippers at the end of the four-axis manipulator of this embodiment;

[0025] Figure 4 It is a three-dimensional diagram of the pusher assembly of this embodiment;

[0026] Figure 5 This is a three-dimensional diagram of the finished product unloading tray assembly of this embodiment;

[0027] Figure 6 It is a three-dimensional view of the feed tray assembly at a first angle of this embodiment;

[0028] Figure 7 It is a three-dimensional view of the feed tray assembly at a second angle of this embodiment;

[0029] Figure 8 It is a three-dimensional diagram of the receiving tray assembly of this embodiment.

[0030] In the figure:

[0031] 10. Loading and unloading platform;

[0032] 20. Four-axis manipulator; 21. Pneumatic gripper; 22. Finger cylinder;

[0033] 30. Transfer fixture plate; 31. Coil slot;

[0034] 40. Six-axis manipulator; 41. Loading tray; 42. Receiving tray; 43. Tray CCD camera;

[0035] 51. Flexible vibration plate; 52. Vibration plate silo; 53. Vibration plate CCD camera;

[0036] 60, material pushing assembly; 61, material pushing rod; 62, material pushing driving source; 62a, material pushing servo motor; 62b, material pushing pulley; 62c, material pushing belt; 62d, connecting plate; 63, slide rail; 64, slider; 65, sensor;

[0037] 70. Finished product unloading tray assembly; 71. Unloading tray; 72. Unloading X-axis slideway; 73. Y-axis driving source; 73a. Y-axis cylinder; 73b. Pushing slide; 73c. ​​Adjusting cylinder; 74. Stopper;

[0038] 80, feed tray assembly; 81, feed tray; 81a, fixed feed tray; 81b, movable feed tray; 81c, feed cylinder; 82, feed X-axis slide; 83, material-dispensing finger; 84, feed-dispensing drive source; 84a, feed servo motor; 84b, feed pulley; 84c, feed belt; 84d, feed bracket; 84e, material-dispensing bracket; 84f, material-dispensing cylinder; 84g, rack; 84h, gear;

[0039] 90. Material receiving tray assembly; 91. Material tray; 92. Material receiving X-axis slideway; 93. Material frame; 94. Lifting cylinder;

[0040] 100. Powder forming machine. DETAILED DESCRIPTION

[0041] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the protection scope of the present invention.

[0042] See also Figure 1 , Figure 2 As shown, this embodiment discloses a single flexible coil loading and unloading machine, including a loading and unloading platform 10 located on one side of a powder forming machine 100, on which a four-axis manipulator 20, a transfer fixture plate 30, a six-axis manipulator, a flexible vibration plate 51, and a vibration plate silo 52 are arranged, and the outlet of the vibration plate silo 52 is located above the flexible vibration plate 51, as shown in FIG. Figure 3 As shown, two pairs of pneumatic grippers 21 are provided at the lower end of the four-axis manipulator 20, and each pair of pneumatic grippers 21 is driven by a finger cylinder 22. A vibration plate CCD camera 53 is provided above the flexible vibration plate 51, and the four-axis manipulator 20 is connected to the flexible vibration plate 51 and the transfer fixture plate 30; a loading plate 41 and a receiving plate 42 are provided on the six-axis manipulator 40, and eight discharge grippers and eight picking grippers are provided on the loading plate 41 and the receiving plate 42 respectively, and eight coil slots 31 are provided on the transfer fixture plate 30, and the number and spacing of the discharge grippers, the picking grippers and the coil slots 31 are consistent, and a material tray CCD camera 43 is provided on the loading and unloading platform 10, and the loading plate 41 and the receiving plate 42 can be moved to the top of the material tray CCD camera 43 respectively, and the six-axis manipulator 40 is connected to the transfer fixture plate 30 and the powder molding machine 100.

[0043] like Figure 1-Figure 8 As shown, the single flexible coil loading and unloading machine also includes a pushing assembly 60, a finished product unloading tray assembly 70, a feeding tray assembly 80, and a receiving tray assembly 90 which are sequentially arranged on the loading and unloading platform 10.

[0044] like Figure 5 As shown, the finished product unloading tray assembly 70 includes an unloading tray 71, and a plurality of unloading X-axis slide grooves 72 are arranged on the upper surface of the unloading tray 71 for receiving eight finished coils transplanted by the unloading tray 71; wherein, the unloading tray 71 can move back and forth on the Y-axis by being driven by a Y-axis driving source 73, and the Y-axis driving source 73 includes a Y-axis cylinder 73a arranged horizontally and a pushing slide 73b slidably arranged on the loading and unloading platform 10, and the Y-axis cylinder 73a drives the pushing slide 73b to slide back and forth in the Y-axis direction, and the unloading tray 71 is arranged above the pushing slide 73b so as to be liftable by the cooperation of a plurality of guide columns and guide sleeves, and two adjusting cylinders 73c are arranged on the pushing slide 73b, and the two adjusting cylinders 73c synchronously drive the unloading tray 71 to rise and fall, and the loading and unloading platform 10 is provided with two limiters 74 located on both sides of the pushing slide 73b.

[0045] like Figure 6 , Figure 7As shown, the feed tray assembly 80 includes a feed tray 81, and a plurality of feed X-axis slide grooves 82 are arranged on the upper surface of the feed tray 81. The feed tray 81 is driven by a feed material shifting driving source 84 to move back and forth in the Y-axis direction. A material shifting finger 83 is arranged above the feed tray 81, and the material shifting finger 83 is driven by the feed material shifting driving source 84 to move back and forth in the X-axis direction and the Y-axis direction.

[0046] The feed tray 81 in this embodiment includes a fixed feed tray 81a and a movable feed tray 81b. The movable feed tray 81b is located on one side of the fixed feed tray 81a and is driven by a feed cylinder 81c fixed on a feed bracket 84d. The movable feed tray 81b moves toward or away from the fixed feed tray 81a in the Y-axis direction.

[0047] The feeding and dispensing driving source 84 in this embodiment includes a feeding servo motor 84a, two feeding pulleys 84b, and a feeding belt 84c. The two feeding pulleys 84b are rotatably arranged on the loading and unloading platform 10, one of which is driven by the feeding servo motor 84a. A feeding bracket 84d that can slide back and forth in the Y-axis direction is slidably arranged on the loading and unloading platform 10, the feeding bracket 84d is fixed on the feeding belt 84c, the feeding tray 81 is arranged on the feeding bracket 84d, and a dispensing bracket 84e that can slide along the X-axis direction is arranged on the top of the feeding bracket 84d, and a dispensing cylinder 84f that is longitudinally arranged to drive the dispensing finger 83 to rise and fall is arranged on the dispensing bracket 84e, a rack 84g running in the X-axis direction is arranged on the feeding bracket 84d, and a gear 84h meshing with the rack 84g is rotatably arranged on the dispensing bracket 84e, and the gear 84h is driven by the dispensing motor 84i.

[0048] like Figure 8 As shown, the receiving tray assembly 90 includes a tray 91, and a plurality of receiving X-axis chutes 92 are arranged on the upper end surface of the tray 91; the feeding X-axis chute 82 can correspond to at least part of the unloading X-axis chute 72 and at least part of the receiving X-axis chute 92, the pushing assembly 60 can push the finished coils in the unloading X-axis chute 72 into the feeding X-axis chute 82, and the material picking finger 83 can push the finished coils in the feeding X-axis chute 82 into the receiving X-axis chute 92 corresponding to the feeding X-axis chute 82.

[0049] like Figure 4As shown, the push assembly 60 includes at least one push rod 61 driven by a push driving source 62. The push rod 61 can extend from the unloading X-axis chute 72 to the feeding X-axis chute 82 through the driving energy of the push driving source 62. Among them, the push driving source 62 includes a push servo motor 62a, two push pulleys 62b, and a push belt 62c. The two push pulleys 62b are rotatably arranged on the loading and unloading platform 10, one of which is driven by the push servo motor 62a. The push rod 61 is fixed on the connecting plate 62d. The loading and unloading platform 10 is provided with a connecting plate 62d that can slide in the X-axis direction through the cooperation and sliding of the slide rail 63 and the slider 64. The connecting plate 62d is connected and fixed to the push belt 62c, and a sensor 65 is arranged at the terminal of the slide rail 63.

[0050] like Figure 8 As shown, the material receiving tray assembly 90 includes a material frame 93, and a plurality of material trays 91 are provided. The plurality of material trays 91 are stacked in the material frame 93, and a lifting cylinder 94 for lifting the plurality of material trays 91 is provided under the material frame 93. The material trays 91 of each layer can be driven flush with the feed tray 81 by the lifting cylinder 94.

[0051] The working principle of this embodiment is:

[0052] The incoming coils are poured into the vibrating plate silo 52, and the incoming coils in the vibrating plate silo 52 fall to the flexible vibrating plate 51, so that the incoming coils face a specific direction. The CCD camera 53 on the top of the vibrating plate takes pictures of the incoming coils in the flexible vibrating plate 51. When the incoming coils that can be grasped are detected, the four-axis manipulator 20 moves two pairs of pneumatic grippers 21 to the flexible vibrating plate 51. After the first pair of pneumatic grippers 21 grip the incoming coils, the four-axis manipulator 20 moves. After the second pair of pneumatic grippers 21 grip the incoming coils, the four-axis manipulator 20 The two coil materials are driven to move and placed one by one in the transfer fixture tray 30. After the four-axis robot 20 has placed four times and the eight coil slots 31 are full, the loading tray 41 of the six-axis robot 40 picks up eight coil materials. At this time, the eight coil materials picked up by the loading tray 41 face downward. The tray CCD camera 43 detects the eight coil materials to see if there is any shortage. Then, the eight coil materials are transported to the powder molding machine 100, and the powder molding machine 100 performs powder filling and die casting. After die casting, the eight coil products are taken down by the receiving tray 42 and then sent to the tray CC The D camera 43 detects the eight coils to see if there is any shortage. If it is correct, they are placed in the multiple X-axis chutes 72 of the feeding tray 71. The pushing drive source 62 drives the pushing rod 61 to push the finished coils in the X-axis chutes 72 to the X-axis chutes 82 of the feeding tray 81. The pushing drive source 62 drives the pushing rod 61 to reset. The upper prying cylinder 84 drives the prying finger 83 to move downward and extend into the X-axis chutes 82. The prying motor 84i drives the gear 84h to rotate. Since the rack 84g is fixed, Therefore, the material-discharging bracket 84e equipped with the gear 84h slides along the X-axis direction on the feeding bracket 84d, and the material-discharging finger 83 pushes the finished coils in the feeding X-axis chute 82 to the receiving X-axis chute 92 of the material tray 91, and the material-discharging finger 83 is reset. When the top first-layer material tray 91 is full of finished coils, the lifting cylinder 94 pushes the top second-layer material tray 91 to be flush with the feeding tray 81, and the top second-layer material tray 91 is loaded with materials until all the material trays 91 are full of materials, and the full material frame 93 is removed and the empty material frame 93 is replaced.

[0053] The above implementation modes are only for illustrating the technical concept and features of the utility model, and their purpose is to allow people familiar with this technology to understand the content of the utility model and implement it. It cannot be used to limit the protection scope of the utility model. Any equivalent changes or modifications made according to the spirit of the utility model should be included in the protection scope of the utility model.

Claims

1. A single flexible coil loading and unloading machine, comprising a loading and unloading platform (10) located on one side of a powder forming machine (100), wherein the loading and unloading platform (10) is provided with a four-axis manipulator (20), a transfer fixture plate (30), and a six-axis manipulator, characterized in that: It also includes a flexible vibration plate (51) and a vibration plate bin (52), wherein the outlet of the vibration plate bin (52) is located above the flexible vibration plate (51), a plurality of pairs of pneumatic grippers (21) are arranged at the lower end of the four-axis manipulator (20), each pair of pneumatic grippers (21) is driven by a finger cylinder (22), a vibration plate CCD camera (53) is arranged above the flexible vibration plate (51), and the four-axis manipulator (20) is connected to the flexible vibration plate (51) and the transfer fixture plate (30); The six-axis manipulator (40) is provided with a loading tray (41) and a receiving tray (42), and the loading tray (41) and the receiving tray (42) are respectively provided with a plurality of material discharge clamps and a plurality of material picking clamps. The transfer fixture tray (30) is provided with a plurality of coil slots (31), and the number and spacing of the material discharge clamps, the material picking clamps and the coil slots (31) are consistent. The loading and unloading platform (10) is provided with a tray CCD camera (43), and the loading and unloading platform (41) and the receiving tray (42) can be moved to the top of the tray CCD camera (43), respectively. The six-axis manipulator (40) is connected to the transfer fixture tray (30) and the powder forming machine (100).

2. The single flexible coil loading and unloading machine according to claim 1 is characterized in that: It also includes a material pushing assembly (60), a finished product unloading tray assembly (70), a material feeding tray assembly (80), and a material receiving tray assembly (90) which are sequentially arranged on the loading and unloading platform (10); The finished product unloading tray assembly (70) comprises an unloading tray (71), and a plurality of unloading X-axis slide grooves (72) are arranged on the upper surface of the unloading tray (71) for receiving a plurality of finished coil products transferred from the unloading tray (71); The feed tray assembly (80) comprises a feed tray (81), a plurality of feed X-axis slide grooves (82) are arranged on the upper surface of the feed tray (81), the feed tray (81) is driven by a feed and material shifting driving source (84) to move back and forth in the Y-axis direction, and a material shifting finger (83) is arranged above the feed tray (81), and the material shifting finger (83) is driven by the feed and material shifting driving source (84) to move back and forth in the X-axis direction and the Y-axis direction; The material receiving tray assembly (90) comprises a material tray (91), and a plurality of material receiving X-axis slide grooves (92) are arranged on the upper end surface of the material tray (91); The feeding X-axis chute (82) can correspond to at least part of the unloading X-axis chute (72) and at least part of the receiving X-axis chute (92); the pushing assembly (60) can push the finished coils in the unloading X-axis chute (72) into the feeding X-axis chute (82); and the material-dispensing finger (83) can push the finished coils in the feeding X-axis chute (82) into the receiving X-axis chute (92) corresponding to the feeding X-axis chute (82).

3. The single flexible coil loading and unloading machine according to claim 2 is characterized in that: The pusher assembly (60) includes at least one pusher rod (61) driven by a pusher driving source (62), and the pusher rod (61) is driven by the pusher driving source (62) to extend from the unloading X-axis chute (72) to the feeding X-axis chute (82).

4. The single flexible coil loading and unloading machine according to claim 3 is characterized in that: The pushing drive source (62) comprises a pushing servo motor (62a), two pushing pulleys (62b), and a pushing belt (62c). The two pushing pulleys (62b) are rotatably arranged on the loading and unloading platform (10), one of the pushing pulleys (62b) is driven by the pushing servo motor (62a), the pushing rod (61) is fixed on the connecting plate (62d), and the loading and unloading platform (10) is provided with a connecting plate (62d) that can slide in the X-axis direction through the cooperation and sliding of the slide rail (63) and the slider (64), the connecting plate (62d) is connected and fixed to the pushing belt (62c), and a sensor (65) is arranged at the terminal of the slide rail (63).

5. The single flexible coil loading and unloading machine according to claim 2 is characterized in that: The unloading tray (71) is driven by a Y-axis driving source (73) to move back and forth on the Y-axis. The Y-axis driving source (73) comprises a Y-axis cylinder (73a) arranged horizontally and a pushing slide (73b) slidably arranged on the loading and unloading platform (10). The Y-axis cylinder (73a) drives the pushing slide (73b) to slide back and forth in the Y-axis direction. The unloading tray (71) is arranged above the pushing slide (73b) to be liftable by the cooperation of a plurality of guide columns and guide sleeves. Two adjusting cylinders (73c) are arranged on the pushing slide (73b). The two adjusting cylinders (73c) synchronously drive the unloading tray (71) to be lifted and lowered. The loading and unloading platform (10) is provided with two limiters (74) located on both sides of the pushing slide (73b).

6. The single flexible coil loading and unloading machine according to claim 2, characterized in that: The feeding and discharging driving source (84) comprises a feeding servo motor (84a), two feeding pulleys (84b), and a feeding belt (84c). The two feeding pulleys (84b) are rotatably arranged on the loading and unloading platform (10), one of the feeding pulleys (84b) is driven by the feeding servo motor (84a), and a feeding bracket (84d) capable of sliding back and forth in the Y-axis direction is slidably arranged on the loading and unloading platform (10), and the feeding bracket (84d) is fixed on the feeding belt (84c). 81) is arranged on a feeding bracket (84d), a feeding bracket (84e) capable of sliding along the X-axis direction is arranged on the top of the feeding bracket (84d), a feeding cylinder (84f) longitudinally arranged to drive the feeding finger (83) to rise and fall is arranged on the feeding bracket (84e), a rack (84g) extending in the X-axis direction is arranged on the feeding bracket (84d), a gear (84h) meshing with the rack (84g) is rotatably arranged on the feeding bracket (84e), and the gear (84h) is driven by a feeding motor (84i).

7. The single flexible coil loading and unloading machine according to claim 6, characterized in that: The feed tray (81) comprises a fixed feed tray (81a) and a movable feed tray (81b), wherein the movable feed tray (81b) is located on one side of the fixed feed tray (81a) and is driven by a feed cylinder (81c) fixed on the feed bracket (84d), and the movable feed tray (81b) moves in the Y-axis direction toward or away from the fixed feed tray (81a).

8. The single flexible coil loading and unloading machine according to claim 2 is characterized in that: The material receiving tray assembly (90) comprises a material frame (93), a plurality of material trays (91) are provided, and the plurality of material trays (91) are stacked in the material frame (93). A lifting cylinder (94) for lifting the plurality of material trays (91) is provided below the material frame (93), and the material trays (91) of each layer can be flush with the feed tray (81) by being driven by the lifting cylinder (94).

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