Automatic feeding device for tubular packaging container

Abstract

The utility model discloses an automatic feeding device for tubular packaging containers, which comprises a grabbing mechanism connected to a cooperative mechanical arm, and the grabbing mechanism comprises a fixing assembly, a first grabbing module, a second grabbing module and a Y-axis driving assembly; the first grabbing module and the second grabbing module each comprise a supporting frame, a hinge distance separation assembly, a clamping jaw assembly and an X-axis driving assembly. The X-axis driving assembly adjusts the distance of the clamping jaw assemblies in the X-axis direction by driving the hinge distance separation assembly, and the Y-axis driving assembly adjusts the distance of the clamping jaw assemblies in the Y-axis direction by driving the first grabbing module and the second grabbing module to move. According to the automatic feeding device, automatic feeding can be carried out on automatic filling equipment provided with two rows of quick clamps which operate in parallel and circularly, the production efficiency is improved, and the device is high in universality.

Description

TECHNICAL FIELD

[0001] The utility model belongs to automatic filling technical field, concretely relates to a kind of automatic feeding device of tubular packing container. BACKGROUND

[0002] With the progress of science and technology, automated production equipment has been popular in major production industries. Currently, for viscous paste products, such as toothpaste, ointment, etc., automatic filling equipment is usually used to automatically fill them into tubular packaging containers. Chinese patent CN216038605U discloses an automatic filling equipment. In this scheme, a single-row quick clamp is connected to the belt in the conveying device for rotating the packaging cylinder. Each rotation cycle can only fill a single row of packaging cylinders. In order to improve production efficiency, the automatic filling equipment needs to be improved. The quick clamps for two rows of parallel circulation are arranged on the conveying belt, which can simultaneously fill more packaging cylinders. Therefore, an automatic feeding device for feeding packaging cylinders to the two rows of parallel circulation quick clamps of the automatic filling equipment is needed. SUMMARY

[0003] Therefore, the utility model provides an automatic feeding device for tubular packaging containers to solve the problem of how to automatically feed the automatic filling equipment provided with two rows of parallel circulation quick clamps.

[0004] To achieve the above purpose, the utility model adopts the following technical scheme:

[0005] An automatic feeding device for tubular packaging containers includes a grabbing mechanism connected to a collaborative robot arm. The grabbing mechanism includes:

[0006] A fixed component is connected to the collaborative robot arm. The bottom surface of the fixed component is provided with a guide rail extending along the Y-axis direction.

[0007] A first grabbing module and a second grabbing module are arranged at intervals in the Y-axis direction and are respectively connected to the guide rail.

[0008] A Y-axis drive assembly is connected between the first grabbing module and the second grabbing module.

[0009] The first grabbing module and the second grabbing module respectively include:

[0010] A support frame is connected to the guide rail and connected to the Y-axis drive assembly.

[0011] A hinge spacing assembly is connected within the support frame and extends along the X-axis direction.

[0012] A plurality of jaw assemblies are equidistantly connected to the hinge subassembly and extend from the bottom of the support frame for clamping the tubular packaging containers;

[0013] An X-axis driving assembly is connected in the support frame and connected to the hinge subassembly;

[0014] The X-axis driving assembly is configured to drive the hinge subassembly to expand or contract along the X-axis direction to adjust the interval of the jaw assemblies along the X-axis direction, and the Y-axis driving assembly is configured to drive the first and second grabbing modules to move along the guide rail to adjust the interval of the jaw assemblies along the Y-axis direction.

[0015] Preferably, the support frame comprises an upper connecting plate, an outer connecting plate and an inner connecting plate, the upper surface of the upper connecting plate is slidingly connected to the guide rail, and the outer connecting plate and the inner connecting plate are perpendicularly connected to the lower surface of the upper connecting plate; the outer connecting plate and the inner connecting plate are provided with a guide assembly extending along the X-axis direction, the hinge subassembly is slidingly connected in the guide assembly, and the X-axis driving assembly is connected to the inner connecting plate and connected to the hinge subassembly.

[0016] Preferably, the guide assembly comprises a first sliding groove, a second sliding groove and a third sliding groove, the first sliding groove is arranged on the surface of the outer connecting plate facing the inner connecting plate, and the second sliding groove and the third sliding groove are arranged on the surface of the inner connecting plate away from the outer connecting plate; the hinge subassembly comprises a plurality of hinge joints connected in sequence, and each hinge joint is provided with a connecting arm;

[0017] The first end of the connecting arm is located between the outer connecting plate and the inner connecting plate and is provided with a clamping groove, each hinge joint is rotatably connected in the clamping groove of the corresponding connecting arm through a connecting shaft, one end of the connecting shaft facing the first sliding groove is slidingly connected in the first sliding groove through a rolling bearing; the second end of the connecting arm extends to the side surface of the inner connecting plate and is slidingly connected to the second sliding groove or the third sliding groove through a connecting block; the lower surface of the second end of the connecting arm is connected to one of the jaw assemblies.

[0018] Preferably, the X-axis driving assembly comprises a first X-axis linear module and a second X-axis linear module, the first X-axis linear module is connected to the inner connecting plate and has an output end facing the first end of the hinge sub-spacing assembly, the output end of the first X-axis linear module is fixedly connected to the hinge sub-spacing assembly through a first sliding block, the second X-axis linear module is connected to the inner connecting plate and has an output end facing the second end of the hinge sub-spacing assembly, the output end of the second X-axis linear module is fixedly connected to the hinge sub-spacing assembly through a second sliding block.

[0019] A fourth sliding groove is arranged on the surface of the inner connecting plate facing the outer connecting plate, and the first sliding block and the second sliding block are slidably connected in the fourth sliding groove.

[0020] Preferably, a first oil pressure buffer is arranged on the inner connecting plate corresponding to the end position of the maximum length of the output end of the first X-axis linear module and the second X-axis linear module.

[0021] Preferably, the Y-axis driving assembly comprises a first Y-axis linear module and a second Y-axis linear module, the first Y-axis linear module is fixedly connected to the corresponding support frame of the first grabbing module, the output end of the first Y-axis linear module is connected to the corresponding support frame of the second grabbing module, the second Y-axis linear module is fixedly connected to the corresponding support frame of the second grabbing module, and the output end of the second Y-axis linear module is connected to the corresponding support frame of the first grabbing module.

[0022] Preferably, the Y-axis driving assembly further comprises a synchronous driving module, the synchronous driving module comprises a rotating shaft arranged between the first grabbing module and the second grabbing module and extending along the X-axis direction, both ends of the rotating shaft are provided with rotating bearings, both ends of the rotating shaft are connected with transmission members, a first connecting member is hingedly connected to the first end of the transmission member, the first connecting member is fixedly connected to the corresponding support frame of the first grabbing module, a second connecting member is hingedly connected to the second end of the transmission member, and the second connecting member is fixedly connected to the corresponding support frame of the second grabbing module.

[0023] Preferably, a second oil pressure buffer is arranged below the rotating bearing.

[0024] Preferably, the X-axis driving assembly and the Y-axis driving assembly are respectively a cylinder driving member, the clamping jaw assembly comprises a pneumatic clamping jaw, and the top surface of the fixing assembly is provided with a gas source access module, a first gas distribution module and a second gas distribution module.

[0025] The gas source access module is connected to an external gas source, the first gas distribution module respectively delivers power gas received from the gas source access module to the X-axis driving assembly and the Y-axis driving assembly and the second gas distribution module, and the second gas distribution module respectively delivers power gas received from the first gas distribution module to each pneumatic gripper.

[0026] Preferably, the bottom surface of the fixing assembly is provided with a plurality of guide rails, which are arranged in sequence and at intervals along the X-axis direction, and a first sliding block and a second sliding block are slidably connected to each guide rail, the first grabbing module is connected to the first sliding block, and the second grabbing module is connected to the second sliding block.

[0027] The automatic feeding device of the tubular packaging container provided by the embodiment of the present application adopts a cooperative mechanical arm combined with a grabbing mechanism to automatically feed, the grabbing mechanism is provided with two grabbing modules arranged side by side, and each grabbing module is connected with a plurality of gripper assemblies. Each grabbing module is provided with an X-axis driving assembly and a hinge distance assembly, so that the distance between the plurality of gripper assemblies in the X-axis direction can be adjusted at equal intervals, and a Y-axis driving assembly is arranged between the two grabbing modules, so that the distance between the two rows of gripper assemblies in the Y-axis direction can be adjusted. Therefore, the automatic feeding device can automatically feed the automatic filling equipment provided with two rows of parallel circulating fast clamps, and the production efficiency is improved. Further, for different specifications of products, the two rows of parallel circulating fast clamps usually have different distances in the X-axis direction and the Y-axis direction, and the automatic feeding device of the present application can adjust the distance between the two rows of gripper assemblies in the X-axis direction and the Y-axis direction, and can be suitable for a plurality of different specifications of products, and has high versatility. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 is a schematic view of the overall structure of the automatic feeding device in the embodiment of the present application;

[0029] Figure 2 is a schematic view of the structure of the fixing assembly in the embodiment of the present application;

[0030] Figure 3 is a schematic view of the structure of the fixing assembly in the embodiment of the present application from another perspective;

[0031] Figure 4 is a schematic view of the structure of the support frame in the embodiment of the present application;

[0032] Figure 5 is a schematic view of the structure of the first grabbing module in the embodiment of the present application;

[0033] Figure 6is another perspective view of the first grabbing module in the embodiment of the utility model;

[0034] Figure 7 is the connection structure diagram of the hinge distance assembly and the guide assembly in the embodiment of the utility model;

[0035] Figure 8 is the connection structure diagram of the X axis drive assembly and the hinge distance assembly in the embodiment of the utility model;

[0036] Figure 9 is the enlarged view of part A in the embodiment of the utility model; Figure 8

[0037] Figure 10 is the enlarged view of part B in the embodiment of the utility model; Figure 8

[0038] Figure 11 is the structure schematic diagram of the Y axis drive assembly in the embodiment of the utility model;

[0039] Figure 12 is the connection structure diagram of the Y axis linear module and the grabbing module in the embodiment of the utility model;

[0040] Figure 13 is the local structure diagram of the synchronous drive module in the embodiment of the utility model;

[0041] Figure 14 is the connection structure diagram of the synchronous drive module and the grabbing module in the embodiment of the utility model. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical scheme and advantages of the utility model more clear, the specific implementation of the utility model is described in detail below with reference to the drawings. The examples of these preferred implementations are illustrated in the drawings. The embodiments of the utility model shown in the drawings and described according to the drawings are merely exemplary, and the utility model is not limited to these embodiments.

[0043] It should be noted that the same or similar numerals in the drawings of the embodiments of the utility model correspond to the same or similar parts. In the description of the utility model, it should be understood that if the directions or position relationships indicated by the terms "upper", "lower", "left", "right" are based on the directions or position relationships shown in the drawings, they are only for the convenience of describing the utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore, the terms describing the position relationship in the drawings are only used for exemplary description, and cannot be understood as a limitation on the patent, for ordinary skilled persons in the art, the specific meaning of the above terms can be understood according to the specific circumstances. ​​

[0044] It should be noted that, in order to avoid unnecessary details from obscuring the present application, only structures and / or processing steps closely related to the present application are shown in the drawings, and other details not closely related to the present application are omitted.

[0045] The present application provides an automatic feeding device for tubular packaging containers, as shown in Figures 1 to 14 The automatic feeding device mainly comprises a collaborative robot arm (not shown in the drawings) and a grabbing mechanism 100 connected to the collaborative robot arm. The grabbing mechanism 100 mainly comprises a fixing assembly 1, a first grabbing module 2a, a second grabbing module 2b, and a Y-axis driving assembly 3.

[0046] The fixing assembly 1 is connected to the collaborative robot arm, and the bottom of the fixing assembly 1 is provided with a guide rail 11 extending along the Y-axis direction. The first grabbing module 2a and the second grabbing module 2b are arranged at intervals in the Y-axis direction and are respectively connected to the guide rail 12. The Y-axis driving assembly 3 is connected between the first grabbing module 2a and the second grabbing module 2b.

[0047] The first grabbing module 2a and the second grabbing module 2b respectively comprise a support frame 21, a hinge spacing assembly 22, a jaw assembly 23, and an X-axis driving assembly 24. The support frame 21 is connected to the guide rail 11 and connected to the Y-axis driving assembly 3. The hinge spacing assembly 22 is connected in the support frame 21 and extends along the X-axis direction. A plurality of jaw assemblies 23 are connected to the hinge spacing assembly 22 at equal intervals and extend from the bottom of the support frame 21. The X-axis driving assembly 24 is connected in the support frame 21 and connected to the hinge spacing assembly 22.

[0048] The X-axis driving assembly 24 is used to drive the hinge spacing assembly 22 to expand or contract along the X-axis direction, so as to adjust the spacing of the jaw assemblies 23 in the X-axis direction. The Y-axis driving assembly 3 is used to drive the first grabbing module 2a and the second grabbing module 2b to move on the guide rail 11, so as to adjust the spacing of the jaw assemblies 23 in the Y-axis direction.

[0049] Specifically, in the present embodiment, as shown in Figure 2 The top surface of the fixing assembly 1 is provided with a flange 10, and the fixing assembly 1 is connected to the collaborative robot arm through the flange 10.

[0050] As a preferred scheme, in the present embodiment, the X-axis driving assembly 24 and the Y-axis driving assembly 3 are respectively a cylinder driving member, and the jaw assembly 23 comprises a pneumatic jaw. Correspondingly, as shown in Figure 2and Figure 3 As shown in the figure, the top surface of the fixed assembly 1 is provided with a gas source access module 12, a first gas distribution module 13 and a second gas distribution module 14. The gas source access module 12 is connected to an external gas source, the first gas distribution module 13 respectively delivers the power gas received from the gas source access module 12 to the X-axis drive assembly 24 and the Y-axis drive assembly 3, and the second gas distribution module 14 respectively delivers the power gas received from the first gas distribution module 13 to each of the pneumatic clamps.

[0051] As a preferred scheme, in the embodiment, as shown in the figure, Figure 1 and 3 As shown in the figure, the bottom surface of the fixed assembly 1 is provided with a plurality of guide rails 11, which are arranged in sequence and spaced apart along the X-axis direction. A first sliding block 15 and a second sliding block 16 are slidably connected to each guide rail 11. The first grabbing module 2a is connected to the first sliding block 15, and the second grabbing module 2b is connected to the second sliding block 16.

[0052] Specifically, in the embodiment, as shown in the figure, Figure 4 The support frame 21 includes an upper connecting plate 211, an outer connecting plate 212 and an inner connecting plate 213. The upper surface of the upper connecting plate 211 is slidably connected to the guide rail 11. Specifically, the upper connecting plate 211 in the first grabbing module 2a is connected to the first sliding block 15, so that the first grabbing module 2a is slidably connected to the guide rail 11. The upper connecting plate 211 in the second grabbing module 2b is connected to the second sliding block 16, so that the second grabbing module 2b is slidably connected to the guide rail 11. The outer connecting plate 212 and the inner connecting plate 213 are perpendicularly connected to the lower surface of the upper connecting plate 211. The outer connecting plate 212 and the inner connecting plate 213 are provided with a guide assembly 25 extending along the X-axis direction. The hinge distance assembly 22 is slidably connected in the guide assembly 25. The X-axis drive assembly 24 is connected to the inner connecting plate 213 and connected to the hinge distance assembly 22.

[0053] As a preferred scheme, in the embodiment, referring to Figures 4 to 7 The guide assembly 25 includes a first sliding groove 251, a second sliding groove 252 and a third sliding groove 253. The first sliding groove 251 is provided on the surface of the outer connecting plate 212 facing the inner connecting plate 213. The second sliding groove 252 and the third sliding groove 253 are provided on the surface of the inner connecting plate 213 away from the outer connecting plate 212. The hinge distance assembly 22 includes a plurality of hinge joints 221 connected in sequence. Each hinge joint 221 is provided with a connecting arm 4.

[0054] The first end of the connecting arm 4 is located between the outer connecting plate 212 and the inner connecting plate 213 and is provided with a clamping groove 41. Each section of the hinge 221 is rotatably connected in the clamping groove 41 of the corresponding connecting arm 4 through a connecting shaft (not shown in the figure), and the connecting shaft is slidably connected in the first sliding groove 251 through a rolling bearing 42 towards one end of the first sliding groove 251. The second end of the connecting arm 4 extends to the side of the inner connecting plate 213 and is slidably connected to the second sliding groove 252 or the third sliding groove 253 through a connecting block 43. Specifically, starting from one end of the hinge distance assembly 22, the second end of the connecting arm 4 of the first section of the hinge 221 is slidably connected to the second sliding groove 252, the second end of the connecting arm 4 of the second section of the hinge 221 is slidably connected to the third sliding groove 253, the second end of the connecting arm 4 of the third section of the hinge 221 is slidably connected to the second sliding groove 252, the second end of the connecting arm 4 of the fourth section of the hinge 221 is slidably connected to the third sliding groove 253, and so on. It can be understood that the second end of the connecting arm 4 of the odd-numbered sequence is slidably connected to the second sliding groove 252, and the second end of the connecting arm 4 of the even-numbered sequence is slidably connected to the third sliding groove 253. Of course, it can also be reversed, that is, the connecting arm 4 of the odd-numbered sequence is slidably connected to the third sliding groove 253, and the connecting arm 4 of the even-numbered sequence is slidably connected to the second sliding groove 252.

[0055] The lower surface of the second end of each connecting arm 4 is connected to one of the clamping jaw assemblies 23.

[0056] It should be noted that, Figure 5 and Figure 6 The structure diagrams of two different perspectives of the first grabbing module 2a are shown, and in order to show the internal structure, Figure 5 and Figure 6 The outer connecting plate 212 is not shown in the figure, and Figure 5 and Figure 6 The hinge distance assembly 22 in the figure is in an unfolded state. Further, in the present embodiment, the first grabbing module 2a and the second grabbing module 2b have the same structure, and the first grabbing module 2a and the second grabbing module 2b are mirror image arranged relative to the X-axis direction.

[0057] Specifically, in the present embodiment, referring to Figure 5 , Figure 6 and Figures 8-10The X-axis driving assembly 24 comprises a first X-axis linear module 241 and a second X-axis linear module 242, which are connected to opposite sides of the inner connecting plate 213. The output end 241a of the first X-axis linear module 241 faces the first end of the hinge distance assembly 22 and is fixedly connected to the hinge distance assembly 22 through a first sliding block 51. The output end 242a of the second X-axis linear module 242 faces the second end of the hinge distance assembly 22 and is fixedly connected to the hinge distance assembly 22 through a second sliding block 52.

[0058] Further, as shown in Figure 4 and Figure 5 The surface of the inner connecting plate 213 facing the outer connecting plate 212 is provided with a fourth sliding groove 254, and the first sliding block 51 and the second sliding block 52 are respectively slidably connected in the fourth sliding groove 254.

[0059] Further, the inner connecting plate 213 is provided with a first oil pressure buffer 6 at the end position corresponding to the maximum length of the output ends of the first X-axis linear module 241 and the second X-axis linear module 242.

[0060] Specifically, in the present embodiment, as shown in Figures 11 to 14 The Y-axis driving assembly 3 comprises a first Y-axis linear module 31 and a second Y-axis linear module 32. The first Y-axis linear module 31 is arranged at the first end of the first grabbing module 2a and the second grabbing module 2b, and the second Y-axis linear module 32 is arranged at the second end opposite to the first end of the first grabbing module 2a and the second grabbing module 2b. The first Y-axis linear module 31 is fixedly connected to the corresponding support frame 21 of the first grabbing module 2a, and the output end 31a of the first Y-axis linear module 31 is connected to the corresponding support frame 21 of the second grabbing module 2b. The second Y-axis linear module 32 is fixedly connected to the corresponding support frame 21 of the second grabbing module 2b, and the output end 32a of the second Y-axis linear module 32 is connected to the corresponding support frame 21 of the first grabbing module 2a.

[0061] Further, the Y-axis driving assembly 3 further comprises a synchronous driving module 33, the synchronous driving module 33 comprises a rotating shaft 331 arranged between the first grabbing module 2a and the second grabbing module 2b and extending along the X-axis direction, both ends of the rotating shaft 331 are respectively provided with rotating bearings 332, both ends of the rotating shaft 331 are respectively connected with transmission members 333, a first connecting member 334 is hinged to a first end of the transmission member 333, the first connecting member 334 is fixedly connected with the support frame 21 corresponding to the first grabbing module 2a, a second connecting member 335 is hinged to a second end of the transmission member 333, the second connecting member 335 is fixedly connected with the support frame 21 corresponding to the second grabbing module 2b.

[0062] Further, a second oil buffer 7 is arranged below the rotating bearing 332.

[0063] The automatic feeding device of the tubular packaging container as described above, the working process thereof comprises:

[0064] (1) The cooperative mechanical arm driving grabbing mechanism 100 moves above the material frame;

[0065] (2) According to the interval of the tubular packaging containers arranged in the material frame in the X-axis direction and the Y-axis direction, the X-axis driving assembly 24 and the Y-axis driving assembly 3 adjust the interval of the two rows of jaw assemblies 23 connected to the first grabbing module 2a and the second grabbing module 2b in the X-axis direction and the Y-axis direction, and the adjustment is adapted to the interval of the tubular packaging containers in the material frame.

[0066] (3) The two rows of jaw assemblies 23 drive the corresponding number of tubular packaging containers;

[0067] (4) The cooperative mechanical arm driving grabbing mechanism 100 moves to the feeding station of the automatic filling equipment;

[0068] (5) According to the interval of the two rows of parallel circulating quick clamps in the feeding station in the X-axis direction and the Y-axis direction, the X-axis driving assembly 24 and the Y-axis driving assembly 3 adjust the interval of the two rows of jaw assemblies 23 connected to the first grabbing module 2a and the second grabbing module 2b in the X-axis direction and the Y-axis direction, and the adjustment is adapted to the interval of the two rows of quick clamps.

[0069] (6) The two rows of jaw assemblies 23 drive the tubular packaging containers to be inserted into the quick clamps, and then the tubular packaging containers are loosened, and one round of automatic feeding work is completed.

[0070] (7) Repeat the above steps (1)-(6) to perform the round of automatic feeding work.

[0071] In summary, the automatic feeding device of the tubular packaging container provided by the above embodiment adopts a cooperative mechanical arm combined with a grabbing mechanism for automatic feeding, the grabbing mechanism is provided with two grabbing modules arranged side by side, and each grabbing module is connected with a plurality of jaw assemblies. Wherein, each grabbing module is provided with an X-axis driving assembly and a hinge distance assembly, so as to adjust the distance of the plurality of jaw assemblies in the X-axis direction at equal intervals, and the Y-axis driving assembly is arranged between the two grabbing modules, so as to adjust the distance of the two rows of jaw assemblies in the Y-axis direction, thereby the automatic feeding device can realize automatic feeding of the automatic filling equipment provided with the two rows of parallel circulating quick clamps, and improve the production efficiency. Further, for different specifications of products, the two rows of parallel circulating quick clamps usually have different distances in the X-axis direction and the Y-axis direction, and the automatic feeding device can adjust the distance of the two rows of jaw assemblies in the X-axis direction and the Y-axis direction, and can be suitable for a plurality of different specifications of products, and has high universality.

[0072] The above description is merely a specific implementation of the present application, and it should be pointed out that, for those skilled in the art, without departing from the principles of the present application, a number of improvements and refinements can be made, and these improvements and refinements should also be considered as the protection scope of the present application.

Claims

1. An automatic feeding device of tubular packaging containers, comprising a gripping mechanism connected to a cooperating robotic arm, characterized in that, The grabbing mechanism comprises: a fixed assembly connected to the collaborative robot arm, a bottom surface of the fixed assembly being provided with a guide rail extending along a Y-axis direction; a first grabbing module and a second grabbing module arranged at intervals in the Y-axis direction and respectively connected to the guide rail in a sliding manner; a Y-axis driving assembly connected between the first grabbing module and the second grabbing module; wherein the first grabbing module and the second grabbing module respectively comprise: a support frame connected to the guide rail in a sliding manner and connected to the Y-axis driving assembly; a hinge distance assembly connected in the support frame and extending along an X-axis direction; a plurality of jaw assemblies connected to the hinge distance assembly at equal intervals and extending from a bottom of the support frame, for clamping tubular packaging containers; an X-axis driving assembly connected in the support frame and connected to the hinge distance assembly; wherein the X-axis driving assembly is configured to drive the hinge distance assembly to expand or contract along the X-axis direction, so as to adjust the distance between the jaw assemblies in the X-axis direction; and the Y-axis driving assembly is configured to drive the first grabbing module and the second grabbing module to move on the guide rail, so as to adjust the distance between the jaw assemblies in the Y-axis direction.

2. The automatic feeding device according to claim 1, characterized in that, The support frame comprises an upper connecting plate, an outer connecting plate and an inner connecting plate, an upper surface of the upper connecting plate being connected to the guide rail in a sliding manner, the outer connecting plate and the inner connecting plate being connected to a lower surface of the upper connecting plate in a perpendicular manner; the outer connecting plate and the inner connecting plate are provided with a guide assembly extending along the X-axis direction, the hinge distance assembly being connected to the guide assembly in a sliding manner, and the X-axis driving assembly being connected to the inner connecting plate and connected to the hinge distance assembly.

3. The automatic feeding device according to claim 2, wherein The guide assembly comprises a first sliding groove, a second sliding groove and a third sliding groove, the first sliding groove being arranged on a surface of the outer connecting plate facing the inner connecting plate, the second sliding groove and the third sliding groove being arranged on a surface of the inner connecting plate away from the outer connecting plate, and the hinge distance assembly comprising a plurality of hinge sections connected in sequence, each hinge section being provided with a connecting arm; a first end of the connecting arm being located between the outer connecting plate and the inner connecting plate and provided with a clamping groove, each hinge section being connected to the clamping groove of the corresponding connecting arm in a rotating manner through a connecting shaft, one end of the connecting shaft facing the first sliding groove being connected to the first sliding groove in a sliding manner through a rolling bearing, a second end of the connecting arm extending to a side surface of the inner connecting plate and connected to the second sliding groove or the third sliding groove through a connecting block, and a lower surface of the second end of the connecting arm being connected to one of the jaw assemblies.

4. The automatic feeding device according to claim 2, wherein The X-axis driving assembly comprises a first X-axis linear module and a second X-axis linear module, the first X-axis linear module is connected to the inner connecting plate and has an output end facing the first end of the hinge spacing assembly, the output end of the first X-axis linear module is fixedly connected to the hinge spacing assembly through a first sliding block, the second X-axis linear module is connected to the inner connecting plate and has an output end facing the second end of the hinge spacing assembly, and the output end of the second X-axis linear module is fixedly connected to the hinge spacing assembly through a second sliding block. A fourth sliding groove is arranged on the surface of the inner connecting plate facing the outer connecting plate, and the first sliding block and the second sliding block are slidably connected in the fourth sliding groove.

5. The automatic feeding device according to claim 4, wherein First oil pressure buffers are arranged on the inner connecting plate corresponding to the maximum length of the output ends of the first X-axis linear module and the second X-axis linear module.

6. The automatic feeding device according to any one of claims 1 to 5, characterized in that, The Y-axis driving assembly comprises a first Y-axis linear module and a second Y-axis linear module, the first Y-axis linear module is fixedly connected to the support frame corresponding to the first grabbing module, the output end of the first Y-axis linear module is connected to the support frame corresponding to the second grabbing module, the second Y-axis linear module is fixedly connected to the support frame corresponding to the second grabbing module, and the output end of the second Y-axis linear module is connected to the support frame corresponding to the first grabbing module.

7. The automatic feeding device according to any one of claims 1 to 6, characterized in that, The Y-axis driving assembly further comprises a synchronous driving module, the synchronous driving module comprises a rotating shaft arranged between the first grabbing module and the second grabbing module and extending along the X-axis direction, rotating bearings are arranged at the two ends of the rotating shaft, transmission members are connected to the two ends of the rotating shaft, first connecting members are hingedly connected to the first ends of the transmission members, the first connecting members are fixedly connected to the support frame corresponding to the first grabbing module, second connecting members are hingedly connected to the second ends of the transmission members, and the second connecting members are fixedly connected to the support frame corresponding to the second grabbing module.

8. The automatic feeding device according to claim 7, wherein Second oil pressure buffers are arranged below the rotating bearings.

9. The automatic feeding device according to claim 1, wherein The X-axis driving assembly and the Y-axis driving assembly are respectively cylinder driving members, the clamping jaw assembly comprises pneumatic clamping jaws, the top surface of the fixing assembly is provided with a gas source access module, a first gas distribution module and a second gas distribution module. The gas source access module is connected to an external gas source, the first gas distribution module respectively delivers power gas received from the gas source access module to the X-axis driving assembly, the Y-axis driving assembly and the second gas distribution module, and the second gas distribution module respectively delivers power gas received from the first gas distribution module to each pneumatic clamping jaw.

10. The automatic feeding device according to claim 1, wherein The bottom surface of the fixing assembly is provided with a plurality of guide rails, the guide rails are sequentially and spacedly arranged along the X-axis direction, a first sliding block and a second sliding block are slidably connected to each guide rail, the first grabbing module is connected to the first sliding block, and the second grabbing module is connected to the second sliding block.

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