Automatic receiving and feeding device for shaft parts

Abstract

The utility model discloses an automatic receiving and feeding device for shaft parts. The automatic receiving and feeding device comprises a rack, a horizontal moving mechanism; a vertical moving mechanism; the mechanical arms comprise the first mechanical arm and the second mechanical arm which are arranged on the vertical moving part in a left-right layout mode. The receiving and feeding groove comprises a receiving groove body and a feeding groove body, the feeding groove body is obliquely and downwards arranged from an inlet of the feeding groove body to an outlet of the feeding groove body, the receiving groove body is obliquely and downwards arranged from an inlet of the receiving groove body to an outlet of the receiving groove body, and the outlet of the feeding groove body and the inlet of the receiving groove body are both formed in the supporting plate; and the control system is connected with the horizontal driving part and the vertical driving part. According to the automatic receiving and feeding device, automatic receiving and feeding of shaft parts with shaft shoulders or steps are achieved, manual feeding is not needed, the working efficiency is improved, and the machining safety of the shaft parts is guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of shaft parts processing, in particular to an automatic feeding and receiving device for shaft parts. Background Art

[0002] The production of aviation structural parts requires shaft parts of numerous specifications to be configured in master parts such as frame parts and box-shaped parts, so that they can be used as hinges, matching shafts, or other parts in the master parts. Due to the high price of aviation parts and the high matching precision, these parts require grinding to ensure accuracy. Shaft parts are divided into two categories: smooth shafts and stepped shafts, and these two categories include solid shafts and hollow shafts. However, regardless of the type of shaft, manual feeding is required. In addition to being inefficient, manual feeding is also dangerous due to the small size of the parts and the high-speed rotation of the grinder. For smooth shafts, a slide can be used to push the parts into the centerless grinder. However, for stepped shafts with shaft shoulders, feeding can only be done when the machine is stopped, which is inefficient.

[0003] Therefore, a kind of automatic feeding and receiving device of shaft parts is developed to solve the above problems. Utility Model Content

[0004] The utility model provides an automatic feeding and receiving device for shaft parts, so as to solve the problem that the existing device can only feed materials in a stopped state and has low working efficiency.

[0005] The utility model achieves the above-mentioned purpose through the following technical solutions:

[0006] An automatic feeding and receiving device for shaft parts, comprising:

[0007] The frame comprises a base, a column and a support plate, wherein the column is fixed to the base, and a horizontal end of the support plate is connected to the lower part of the column;

[0008] A horizontal moving mechanism, comprising a horizontal moving beam, a horizontal moving member, and a horizontal driving member, wherein one end of the horizontal moving beam is connected to the upper portion of the column, the horizontal moving beam is arranged directly above the support plate, and the horizontal driving member drives the horizontal moving member to perform horizontal reciprocating movement on the horizontal moving beam;

[0009] A vertical moving mechanism, comprising a vertical guide rail, a vertical moving member and a vertical driving member, wherein the vertical guide rail is connected to the horizontal moving member, and the vertical driving member drives the vertical moving member to move up and down on the vertical guide rail;

[0010] A manipulator, the manipulator comprising a first manipulator and a second manipulator arranged on the vertical moving member in a left and right arrangement;

[0011] A material receiving and feeding trough, the material receiving and feeding trough comprising a material receiving trough and a material feeding trough, the material feeding trough being arranged downwardly from the material feeding trough inlet toward the material feeding trough outlet, the material receiving trough being arranged downwardly from the material receiving trough inlet toward the material receiving trough outlet, and the material feeding trough outlet and the material receiving trough inlet being both arranged on the support plate;

[0012] A control system, wherein the control system is connected to the horizontal drive member and the vertical drive member respectively;

[0013] When the horizontal driving member drives the horizontal moving member, the horizontal moving member can drive the first manipulator and the second manipulator to move respectively directly above the material receiving trough entrance and the material feeding trough exit, and the horizontal moving member can also drive the first manipulator and the second manipulator to move directly above the part processing position.

[0014] Furthermore, the bottom of the feed chute outlet is hinged to the support plate via a first inclination adjustment hinge, and the bottom of the receiving chute inlet is hinged to the support plate via a second inclination adjustment hinge.

[0015] Specifically, the horizontal moving part includes a slider, the horizontal driving part includes a horizontal screw rod, a horizontal driving motor and a reducer, the slider is threadedly connected to the horizontal screw rod, the horizontal rotating shaft, the reducer and the horizontal screw rod of the horizontal driving motor are connected in sequence, and the horizontal screw rod is arranged on the horizontal moving beam.

[0016] Specifically, the vertical moving part includes a screw nut and a vertical slide, the screw nut is connected to the vertical slide, the vertical driving part includes a vertical screw and a vertical driving motor, the screw nut is threadedly connected to the vertical screw, the vertical rotating shaft of the vertical driving motor is connected to the vertical screw, and the manipulator is arranged on the vertical slide.

[0017] Furthermore, the first manipulator and the second manipulator each include a stationary arm, a movable arm, a cylinder and a picking head, the cylinder is fixed on the vertical movable part, the output shaft of the cylinder is horizontally arranged on one side of the cylinder, the movable arm is vertically arranged and connected to the output shaft, the stationary arm is vertically arranged and fixedly connected to the outer shell of the cylinder, and the control system is connected to the cylinder.

[0018] Furthermore, the manipulator includes a horizontal guide rod, and horizontal guide rods are provided above and below the oil cylinder. One end of the horizontal guide rod can be slidably passed through the upper end of the movable arm, and the other end of the horizontal guide rod is fixedly connected to the upper end of the stationary arm.

[0019] Furthermore, the manipulator includes a protective shell, which is arranged on the vertical slide, and the horizontal guide rod, the upper end of the movable arm, the oil cylinder and the upper end of the stationary arm are all arranged in the protective shell.

[0020] The utility model also provides a method for the automatic feeding and receiving device of shaft parts, comprising the following steps:

[0021] The parts to be processed are regularly fed into the feed trough entrance, and the parts to be processed move to the feed trough exit under the action of their own gravity;

[0022] Perform feeding operation: control the horizontal moving part to drive the second manipulator to the top of the feeding trough outlet and align it with the part to be processed, and control the vertical moving part to drive the second manipulator to move downward and pick up the part to be processed;

[0023] Control the horizontal moving member to drive the second manipulator to move horizontally to just above the part processing position, and control the vertical moving member to drive the second manipulator to move downward and place the part to be processed on the part processing position;

[0024] The feeding operation is performed again to pick up a new part to be processed, and then the horizontal moving part is controlled to drive the first manipulator to move horizontally to just above the part processing position and align it with the processed part, and the vertical moving part is controlled to drive the first manipulator to move downward and pick up the processed part, and then the horizontal moving part is controlled to drive the second manipulator to move horizontally to just above the part processing position, and place the part to be processed on the part processing position, and then the vertical moving part is controlled to drive the first manipulator and the second manipulator to move upward, and the horizontal moving part is controlled to drive the first manipulator and the second manipulator to align with the receiving trough entrance and the feeding trough outlet respectively, and then the vertical moving part is controlled to drive the first manipulator and the second manipulator to move downward, and the first manipulator places the processed part into the receiving trough entrance, and the second manipulator picks up the new part to be processed again;

[0025] Repeat the above operations to complete the feeding of all the parts to be processed and the collection of all the processed parts.

[0026] The method comprises the following steps:

[0027] Control the first manipulator / second manipulator to pick up parts with shoulders: control the vertical moving part to drive the moving arm and the static arm to move downward, aim at the parts, start the oil cylinder to drive the moving arm to move toward the static arm, and realize the picking of parts with shoulders;

[0028] Control the first manipulator / second manipulator to release the parts: control the vertical moving part to drive the moving arm and the stationary arm to move downward to align with the part placement position, and control the cylinder to drive the moving arm to move outward to release the parts.

[0029] The beneficial effects of the present invention are:

[0030] The automatic feeding and receiving device for shaft parts proposed in the utility model realizes the automatic feeding and receiving of shaft parts with shoulders or steps through a horizontal moving mechanism, a vertical moving mechanism, a manipulator, a feeding and receiving trough, and a control system. It does not require manual feeding, improves work efficiency, and ensures the processing safety of shaft parts. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a front view of an automatic feeding and receiving device for shaft parts in an embodiment of the present application;

[0032] Figure 2 for Figure 1 Schematic diagram of the enlarged structure of A;

[0033] Figure 3 This is a side view of an automatic feeding and receiving device for shaft parts in an embodiment of the present application;

[0034] Figure 4 This is a working status diagram of an automatic feeding and receiving device for shaft parts in an embodiment of the present application.

[0035] In the figure: 1-column; 2-horizontal moving beam; 3-support plate; 4-base; 5-slider connecting plate; 6-vertical guide rail; 7-vertical screw; 8-screw nut; 9-vertical slide; 10-slider; 11-first manipulator; 12-second manipulator; 13-material receiving trough; 14-material receiving and feeding trough; 15-vertical drive motor; 16-horizontal screw; 17-horizontal drive motor; 18-horizontal screw stabilizer block; 19-stationary arm; 20-moving arm; 21-picking head; 22-first inclination adjustment hinge; 23-oil cylinder; 24-horizontal guide rod; 25-second inclination adjustment hinge; 26-feeding trough entrance; 27-protective shell; 28-material receiving trough entrance; 29-feeding trough exit; 30-machine tool; 31-part processing position; 32-material receiving trough exit. DETAILED DESCRIPTION

[0036] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more apparent, the technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings of the embodiments of the present invention. It should be understood that the described embodiments are only a portion of the embodiments of the present invention, not all of them. Generally, the components of the embodiments of the present invention described and illustrated in the drawings herein may be arranged and designed in a variety of different configurations.

[0037] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort are also within the scope of protection of the present invention.

[0038] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0039] In the description of the present utility model, it should be understood that the terms "upper", "lower", "inside", "outside", "left", "right", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, or are directions or positional relationships in which the utility model product is usually placed when in use, or are directions or positional relationships commonly understood by those skilled in the art. These directions or positional relationships are only for the convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present utility model.

[0040] Furthermore, the terms “first”, “second”, etc. are merely used for distinguishing descriptions and should not be understood as indicating or implying relative importance.

[0041] It should also be noted that, in the description of this utility model, unless otherwise expressly specified or limited, terms such as "disposed" and "connected" should be understood in a broad sense. For example, "connected" can mean a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication between two components. For those skilled in the art, the specific meanings of the above terms in this utility model can be understood according to specific circumstances.

[0042] The specific implementation of the present invention is described in detail below with reference to the accompanying drawings.

[0043] like Figure 1 and Figure 3 As shown, an automatic feeding and receiving device for shaft parts includes:

[0044] The frame includes a base 4, a column 1 and a support plate 3, wherein the column 1 is fixed to the base 4, and one horizontal end of the support plate 3 is connected to the lower part of the column 1;

[0045] A horizontal moving mechanism, comprising a horizontal moving beam 2, a horizontal moving member, and a horizontal driving member. One end of the horizontal moving beam 2 is connected to the upper portion of the column 1. The horizontal moving beam 2 is arranged directly above the support plate 3. The horizontal driving member drives the horizontal moving member to perform horizontal reciprocating movement on the horizontal moving beam 2.

[0046] A vertical moving mechanism, comprising a vertical guide rail 6, a vertical moving member and a vertical driving member, wherein the vertical guide rail 6 is connected to the horizontal moving member, and the vertical driving member drives the vertical moving member to move up and down on the vertical guide rail 6;

[0047] A manipulator, the manipulator comprising a first manipulator 11 and a second manipulator 12 arranged on the vertical moving member on the left and right sides;

[0048] The receiving and feeding trough includes a receiving trough 13 and a feeding trough 14. The feeding trough 14 is arranged downwardly from the feeding trough inlet 26 to the feeding trough outlet 29. The receiving trough 13 is arranged downwardly from the receiving trough inlet 28 to the receiving trough outlet 32. Both the feeding trough outlet 29 and the receiving trough inlet 28 are arranged on the support plate 3.

[0049] A control system, wherein the control system is connected to the horizontal drive member and the vertical drive member respectively;

[0050] When the horizontal driving member drives the horizontal moving member, the horizontal moving member can drive the first manipulator 11 and the second manipulator 12 to move respectively directly above the receiving trough inlet 28 and the feeding trough outlet 29, and the horizontal moving member can also drive the first manipulator 11 and the second manipulator 12 to move directly above the part processing position.

[0051] The applicant has developed the present invention, an automatic feeding and receiving device for shaft parts, based on the actual centerless grinding machine tools for grinding stepped shafts, optical shafts and other small shaft parts. The feed trough inlet 26 is connected to the feed storage bin, and the parts to be processed automatically roll from the feed storage bin to the feed trough inlet 26, and the finished products after processing automatically roll from the trough outlet 32 ​​into the receiving storage bin connected to the trough outlet 32, realizing intermittent feeding and collecting of materials. The system is unmanned.

[0052] The utility model is configured on a shaft parts production line. For shaft parts with high shape accuracy requirements, the machine tool configuration can be divided into 2-3 groups. For processes that generally only leave very little margin, a single machine configuration can be used. Through the coordinated action of the receiving trough, feeding trough, horizontal moving mechanism, vertical moving mechanism, manipulator and control system, centralized loading and unattended removal of materials are facilitated to realize intermittent feeding and unattended automatic production.

[0053] like Figure 2As shown, in some embodiments, the bottom of the feed chute outlet 29 is hinged to the support plate 3 via a first tilt adjustment hinge 22, and the bottom of the receiving chute inlet 28 is hinged to the support plate 3 via a second tilt adjustment hinge 25. This allows the tilt angles of the feed chute outlet 29 and the receiving chute outlet 32 ​​to be adjusted, facilitating the feeding and receiving of parts.

[0054] like Figure 1 As shown, in some embodiments, the horizontal moving member includes a slider 10, and the horizontal driving member includes a horizontal screw rod 16, a horizontal driving motor 17, and a reducer. The slider 10 is threadedly connected to the horizontal screw rod 16, and the horizontal rotating shaft, reducer, and horizontal screw rod 16 of the horizontal driving motor 17 are sequentially connected. The horizontal screw rod 16 is disposed on the horizontal moving beam 2. One end of the horizontal screw rod 16 is limited by a horizontal screw rod stabilizing block 18 and is disposed on the horizontal moving beam 2.

[0055] like Figure 1 As shown, in some embodiments, the vertical moving part includes a screw nut 8 and a vertical slide 9, the screw nut 8 is connected to the vertical slide 9, the vertical driving part includes a vertical screw 7 and a vertical driving motor 15, the screw nut 8 is threadedly connected to the vertical screw 7, the vertical rotating shaft of the vertical driving motor 15 is connected to the vertical screw 7, and the manipulator is arranged on the vertical slide 9.

[0056] Combine Figure 1 and Figure 2 As shown, in some embodiments, the first manipulator 11 and the second manipulator 12 each include a stationary arm 19, a movable arm 20, a cylinder 23 and a picking head 21, the cylinder 23 is fixed on the vertical movable part, the output shaft of the cylinder 23 is horizontally arranged on one side of the cylinder 23, the movable arm 20 is vertically arranged and connected to the output shaft, the stationary arm 19 is vertically arranged and fixedly connected to the outer shell of the cylinder 23, and the control system is connected to the cylinder 23.

[0057] When one of the arms of the first manipulator 11 or the second manipulator 12 is a stationary arm, the stationary arm can provide continuous support and fixation. If both arms are mobile arms, then during operation, both arms need to maintain synchronous movement and clamping of the parts. If the movements of the two mobile arms are not fully coordinated, or there are errors in the control system, it may cause unstable clamping, which may cause the parts, especially shaft parts with shoulders, to slip or rotate. For parts with shoulders, the design of using one stationary arm and one mobile arm can fully utilize the geometric structure of the shoulder and provide stable clamping force.

[0058] Combine Figure 1 and Figure 2As shown, in some embodiments, the manipulator includes a horizontal guide rod 24, which is provided above and below the oil cylinder 23. One end of the horizontal guide rod 24 is slidably inserted into the upper end of the movable arm 20, and the other end of the horizontal guide rod 24 is fixedly connected to the upper end of the stationary arm 19. This guides the moving direction of the movable arm 20.

[0059] Combine Figure 1 and Figure 2 As shown, in some embodiments, the manipulator includes a protective shell 27, which is arranged on the vertical slide 9, and the horizontal guide rod 24, the upper end of the movable arm 20, the cylinder 23 and the upper end of the stationary arm 19 are all arranged in the protective shell 27.

[0060] This embodiment also provides a method for the automatic feeding and receiving device for shaft parts, comprising the following steps:

[0061] The parts to be processed are regularly fed into the feed trough inlet 26 and move to the feed trough outlet 29 under the action of their own gravity;

[0062] Perform feeding operation: control the horizontal moving part to drive the second manipulator 12 to the top of the feeding trough outlet 29 and align it with the part to be processed, and control the vertical moving part to drive the second manipulator 12 to move downward and pick up the part to be processed;

[0063] Control the horizontal moving member to drive the second manipulator 12 to move horizontally to just above the part processing position, and control the vertical moving member to drive the second manipulator 12 to move downward and place the part to be processed on the part processing position;

[0064] The feeding operation is performed again to pick up a new part to be processed, and then the horizontal moving part is controlled to drive the first manipulator 11 to move horizontally to just above the part processing position and align it with the processed part, and the vertical moving part is controlled to drive the first manipulator 11 to move downward and pick up the processed part, and then the horizontal moving part is controlled to drive the second manipulator 12 to move horizontally to just above the part processing position and place the part to be processed on the part processing position, and then the vertical moving part is controlled to drive the first manipulator 11 and the second manipulator 12 to move upward, and the horizontal moving part is controlled to drive the first manipulator 11 and the second manipulator 12 to align with the receiving trough entrance 28 and the feeding trough outlet 29 respectively, and then the vertical moving part is controlled to drive the first manipulator 11 and the second manipulator 12 to move downward, and the first manipulator 11 places the processed part into the receiving trough entrance 28, and the second manipulator 12 picks up the new part to be processed again;

[0065] Repeat the above operations to complete the feeding of all the parts to be processed and the collection of all the processed parts.

[0066] Control the first manipulator 11 / the second manipulator 12 to pick up the part with the shoulder: control the vertical moving part to drive the moving arm 20 and the stationary arm 19 to move downward, aim at the part, start the cylinder 23 to drive the moving arm 20 to move toward the stationary arm 19, and realize the picking up of the part with the shoulder;

[0067] Control the first manipulator / second manipulator to pick up parts with shoulders: control the vertical moving part to drive the moving arm 20 and the stationary arm 19 to move downward to align with the part placement position, and control the cylinder 23 to drive the moving arm 20 to move outward to release the part.

[0068] When the utility model is actually used, it is placed on one side of the machine tool 30, and the centerless grinder is installed directly below the horizontal moving beam 2. Its part processing position 31 is on the top surface of the machine tool, and the receiving trough inlet 28 and the feeding trough outlet 29 are installed on the support plate 3 directly below the horizontal moving beam 2 of the device 17, and are in the same straight line with the part processing position 31.

[0069] Preset the control program: Adjust the slider 10 to the left of the device. Position the first and second manipulators 11 and 12 directly above the receiving trough inlet 28 and the feeding trough outlet 29, respectively, and lock the device. Then, move the slider 10 directly above the part processing position 31, and set these two positions as the system's starting and ending points. Then, set the displacement program for the first and second manipulators 11 and 12 to pick up and release parts at these starting and ending points. Then, start the vertical drive motor 15 and set the horizontal starting and ending points. The vertical position and displacement difference between picking up and releasing parts on the track slot and picking up and releasing parts on the processing machine tool must be set, and wait for system instructions.

[0070] The actual working process of this utility model is as follows:

[0071] The control system controls the horizontal screw 16 and the horizontal drive motor 17 to drive the slider 10 to move, so that the picking head of the second manipulator 12 is located at the feed trough outlet 29 and stops moving. Then the control system controls the vertical screw 7 and the vertical drive motor 15 to drive the screw nut 8 26 installed on the slider connecting plate 5 to drive the vertical slide 9 to move down to the position where the feed trough outlet 29 is aligned with the center hole of the part and stops. At this time, the stationary arm 19 is supported on the lower end face of the shoulder of the part to be processed. Then the control system controls the oil cylinder 23 to drive the movable arm 20 to move toward the stationary arm 19, thereby achieving To pick up the parts to be processed, the control system controls the second manipulator 12 to rise to the set position and stop, and then the horizontal screw rod 16 and the horizontal drive motor 17 drive the slider 10 to move, and the second manipulator 12 that has picked up the parts is moved to the top of the part processing position 31 and then stops. The control system controls the vertical screw rod 7 and the vertical drive motor 15 to drive the second manipulator 12 to move to the appropriate position toward the machine tool 30 and stop, and controls the start cylinder 23 to move the moving arm 20 of the second manipulator 12 outward, and releases the part to the part processing position 31.

[0072] Control the vertical screw rod 7 and the vertical drive motor 15 to drive again to lift the feed trough outlet 29 to a predetermined height and stop, then drive the horizontal screw rod 16 and the horizontal drive motor 17 to stop the second manipulator 12 feed trough outlet 29 again, the vertical moving mechanism and the second manipulator 12 repeat the part picking action, after picking up the part at the feed trough outlet 29, control the horizontal screw rod 16 and the horizontal drive motor 17 to drive the first manipulator 11 to wait above the part processing position 31 until the parts on the machine tool 30 are processed. Control the vertical screw rod 7 and the vertical drive motor 15 to drive the first manipulator 11 to move down to the part processing position 31. Similarly, the second manipulator 12 picks up the processed parts, and then the vertical screw rod 7 and the vertical drive motor 15 lift and stop the first manipulator 11; then control the horizontal screw rod 16 and the horizontal drive motor 17 to drive the second manipulator 12 to the upper position of the part processing position 31 according to the preset program, and then control the vertical screw rod 7 and the vertical drive motor 15 to drive the second manipulator 12 to move down and place the new part to be processed in the processing position. After that, the vertical screw rod 7 and the vertical drive motor 15 are controlled to drive the second manipulator 12 and the first manipulator 11 to be lifted to the predetermined position and stopped. Then, the horizontal screw rod 16 and the horizontal drive motor 17 are controlled to drive the first manipulator 11 to move to the receiving trough entrance 28 and stop. Then, the processed parts are released into the receiving trough entrance 28. After that, the processed parts roll into the receiving storage bin through the receiving trough 13. At the same time, the oil cylinder 23 of the second manipulator 12 is tightened so that the new parts to be processed are picked up and tightened. Then, the vertical screw rod 7 and the vertical drive motor 15 are controlled to drive the manipulator to be lifted to the predetermined position, and then stop. The horizontal screw rod 16 and the horizontal drive motor 17 are controlled to drive the manipulator to move to the part processing position 31 and wait. Repeat the above steps to complete the automatic loading and unloading of shaft parts.

[0073] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. An automatic feeding and receiving device for shaft parts, characterized in that: include: A frame comprising a base (4), a column (1) and a support plate (3), wherein the column (1) is fixed on the base (4), and a horizontal end of the support plate (3) is connected to the lower part of the column (1); A horizontal moving mechanism, comprising a horizontal moving beam (2), a horizontal moving member and a horizontal driving member, one end of the horizontal moving beam (2) being connected to the upper portion of the column (1), the horizontal moving beam (2) being arranged directly above the support plate (3), and the horizontal driving member driving the horizontal moving member to perform horizontal reciprocating movement on the horizontal moving beam (2); A vertical moving mechanism, the vertical moving mechanism comprising a vertical guide rail (6), a vertical moving member and a vertical driving member, the vertical guide rail (6) being connected to the horizontal moving member, and the vertical driving member driving the vertical moving member to move up and down on the vertical guide rail (6); A manipulator, the manipulator comprising a first manipulator (11) and a second manipulator (12) arranged on the vertical moving member in a left and right arrangement; A material receiving and feeding trough, the material receiving and feeding trough comprising a material receiving trough (13) and a material feeding trough (14), the material feeding trough (14) being arranged to be inclined downward from the material feeding trough inlet (26) toward the material feeding trough outlet (29), the material receiving trough (13) being arranged to be inclined downward from the material receiving trough inlet (28) toward the material receiving trough outlet (32), the material feeding trough outlet (29) and the material receiving trough inlet (28) being both arranged on the support plate (3); A control system, wherein the control system is connected to the horizontal drive member and the vertical drive member respectively; When the horizontal driving member drives the horizontal moving member, the horizontal moving member can drive the first manipulator (11) and the second manipulator (12) to move respectively to the top of the receiving trough inlet (28) and the feeding trough outlet (29), and the horizontal moving member can also drive the first manipulator (11) and the second manipulator (12) to move to the top of the part processing position.

2. The automatic feeding and receiving device for shaft parts according to claim 1, characterized in that: The bottom of the feed trough outlet (29) is hinged to the support plate (3) via a first inclination adjustment hinge (22), and the bottom of the receiving trough inlet (28) is hinged to the support plate (3) via a second inclination adjustment hinge (25).

3. The automatic feeding and receiving device for shaft parts according to claim 1, characterized in that: The horizontal moving member includes a slider (10), and the horizontal driving member includes a horizontal screw rod (16), a horizontal driving motor (17) and a reducer. The slider (10) is threadedly connected to the horizontal screw rod (16). The horizontal rotating shaft, the reducer and the horizontal screw rod (16) of the horizontal driving motor (17) are connected in sequence. The horizontal screw rod (16) is arranged on the horizontal moving beam (2).

4. The automatic feeding and receiving device for shaft parts according to claim 1, characterized in that: The vertical moving part includes a screw nut (8) and a vertical slide (9), the screw nut (8) is connected to the vertical slide (9), the vertical driving part includes a vertical screw (7) and a vertical driving motor (15), the screw nut (8) is threadedly connected to the vertical screw (7), the vertical rotating shaft of the vertical driving motor (15) is connected to the vertical screw (7), and the manipulator is arranged on the vertical slide (9).

5. The automatic feeding and receiving device for shaft parts according to claim 4, characterized in that: The first manipulator (11) and the second manipulator (12) each include a stationary arm (19), a movable arm (20), a cylinder (23) and a picking head (21), wherein the cylinder (23) is fixed on the vertical movable member, and the output shaft of the cylinder (23) is horizontally arranged on one side of the cylinder (23), the movable arm (20) is vertically arranged and connected to the output shaft, the stationary arm (19) is vertically arranged and fixedly connected to the outer shell of the cylinder (23), and the control system is connected to the cylinder (23).

6. The automatic feeding and receiving device for shaft parts according to claim 5, characterized in that: The manipulator includes a horizontal guide rod (24), and a horizontal guide rod (24) is provided above and below the oil cylinder (23). One end of the horizontal guide rod (24) can be slidably inserted into the upper end of the movable arm (20), and the other end of the horizontal guide rod (24) is fixedly connected to the upper end of the stationary arm (19).

7. The automatic feeding and receiving device for shaft parts according to claim 6, characterized in that: The manipulator includes a protective shell (27), which is arranged on the vertical slide (9), and the horizontal guide rod (24), the upper end of the movable arm (20), the oil cylinder (23) and the upper end of the stationary arm (19) are all arranged in the protective shell (27).

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