Portal frame type feeding mechanism

Abstract

The utility model discloses a portal frame type feeding mechanism which comprises an X-axis moving assembly, a Y-axis lifting assembly, a Z-axis moving assembly and a clamping mechanism. The lithium battery production line comprises a rack and a conveying mechanism, the X-axis moving assembly, the Y-axis lifting assembly and the Z-axis moving assembly are arranged to drive the clamping mechanism to move, the clamping mechanism is matched with the material box, and the material box is fed into the conveying mechanism, so that rapid transfer of materials is achieved; according to the utility model, a three-axis moving structure is adopted, the alignment is accurate, the lithium battery can be quickly and accurately transferred from the oven to the conveying mechanism, so that the connection between the baking process and the liquid injection process of the lithium battery is smoother, the time for shutdown and material waiting is reduced, and the lithium battery is more stable in the conveying process. The utility model has the advantages of small volume, simple structure, tight butt joint with the oven, no need of reserving pallet fork operation space, small occupied space and capability of effectively reducing the occupation of a production site.

Description

Technical Field

[0001] This utility model relates to the field of lithium battery production technology, and more specifically, to a gantry-type feeding mechanism. Background Technology

[0002] In the production process of lithium batteries, they need to be dried in an oven before being injected with electrolyte. Currently, lithium battery cells and materials are typically placed in material boxes, which are stacked to form a whole. These boxes are then forked into the oven using forks or a forklift. After baking, they are transferred to the electrolyte injection equipment for further processing using the same forks or forklift. This method of loading and unloading with forks or forklifts is prone to shaking and misalignment when handling large quantities of materials. This makes the transfer of lithium batteries between the baking and electrolyte injection processes time-consuming and labor-intensive, reducing the production efficiency of subsequent processes. Utility Model Content

[0003] This utility model provides a gantry-type feeding mechanism to solve the problems mentioned in the background art. To achieve the above objective, this utility model provides the following technical solution: a gantry-type feeding mechanism for conveying material boxes to a lithium battery production line, comprising an X-axis moving component, a Y-axis lifting component, a Z-axis moving component, and a clamping mechanism;

[0004] The lithium battery production line includes a frame and a conveying mechanism;

[0005] The Y-axis lifting assembly is mounted on the frame, and the X-axis moving assembly is mounted on the Y-axis lifting assembly. The Y-axis lifting assembly drives the X-axis moving assembly to move vertically up and down along the Y-axis. The Z-axis moving assembly is mounted on the X-axis moving assembly, and the X-axis moving assembly drives the Z-axis moving assembly to move left and right along the X-axis. The locking mechanism is mounted on the Z-axis moving assembly, and the Z-axis moving assembly drives the locking mechanism to move back and forth along the Z-axis.

[0006] The locking mechanism allows for the movable locking and engagement of the material boxes.

[0007] Preferably, the snap-fit ​​mechanism includes a snap-fit ​​plate, snap-fit ​​arms are symmetrically provided at both ends of the snap-fit ​​plate, snap-fit ​​strips are provided at the bottom of the snap-fit ​​arms, and snap-fit ​​grooves that cooperate with the snap-fit ​​strips are provided on the side of the material box; when the snap-fit ​​strips are engaged with the snap-fit ​​grooves, the snap-fit ​​strips can be movably inserted into the snap-fit ​​grooves.

[0008] Preferably, the snap-fit ​​mechanism includes a snap-fit ​​beam, with snap-fit ​​modules symmetrically arranged at both ends of the snap-fit ​​beam. Each snap-fit ​​module includes a fixed base, a cylinder, and a snap-fit ​​block. The material box is provided with snap-fit ​​holes. The fixed base is connected to the snap-fit ​​beam, the cylinder is mounted on the fixed base, and the snap-fit ​​block is mounted on the piston rod of the cylinder. When the snap-fit ​​block mates with the snap-fit ​​hole, the snap-fit ​​block can be movably inserted into the snap-fit ​​hole.

[0009] Preferably, the Y-axis lifting assembly includes two lifting connectors and a pair of lifting mechanisms arranged parallel to each other, with the lifting connectors mounted on the lifting mechanisms; the X-axis moving assembly includes a left-right moving mechanism and a connecting plate, with the tops of the left-right moving mechanisms respectively connected to the two lifting connectors, and the connecting plate mounted on the left-right moving mechanisms; the Z-axis moving assembly includes a front-back moving mechanism, with the tops of the front-back moving mechanism connected to the connecting plate, and the locking mechanism mounted on the front-back moving mechanism.

[0010] Preferably, the lifting mechanism, the left-right moving mechanism, and the front-back moving mechanism are all screw drive mechanisms; the screw drive mechanism includes a support rod and a slider seat slidably disposed on the support rod; the support rod has a rotatable screw inside, and a nut seat is threadedly connected to the screw, the nut seat being fixedly connected to the slider seat; one end of the support rod is provided with a drive motor, and the drive motor is connected to the screw in a transmission connection.

[0011] Preferably, one end of the support rod is provided with a first slotted photoelectric switch and the other end is provided with a second slotted photoelectric switch; the side of the slider seat is provided with a slotted photoelectric sensor, and the slotted photoelectric sensor is respectively configured to cooperate with the first slotted photoelectric switch and the second slotted photoelectric switch.

[0012] Preferably, the outer side of the support rod is provided with a mounting groove, and a plurality of slidable slider nuts are provided in the mounting groove. The first slot-shaped photoelectric switch and the second slot-shaped photoelectric switch are respectively mounted on the mounting groove through the slider nuts.

[0013] Preferably, the bottom of the Z-axis moving component is further provided with a vision detection module, which is used to detect whether the material box is full.

[0014] Preferably, the latching mechanism is provided with a sensor switch, and the material box is provided with a triggering mechanism that cooperates with the sensor switch, the triggering mechanism being able to trigger the sensor switch.

[0015] Preferably, the front end of the snap-fit ​​mechanism is provided with a distance sensor.

[0016] Compared with existing technologies, the advantages of this invention are as follows: This invention uses an X-axis moving component, a Y-axis lifting component, and a Z-axis moving component to drive the locking mechanism. The locking mechanism cooperates with the material box and feeds the material box into the conveying mechanism, thereby achieving rapid material transfer. This invention adopts a three-axis moving structure, ensuring precise alignment and enabling rapid and accurate transfer of lithium batteries from the oven to the conveying mechanism. This makes the connection between the baking and liquid injection processes of lithium batteries smoother, reducing downtime and waiting time for materials. The lithium batteries are also more stable during transport, improving the operating efficiency of the production line. This invention is compact, simple in structure, and tightly connected to the oven, requiring no space for fork operation and occupying minimal space, effectively reducing the footprint on the production floor. Attached Figure Description

[0017] Figure 1 This is a schematic diagram illustrating the installation effect of the gantry-type feeding mechanism according to an embodiment of the present utility model;

[0018] Figure 2 This is a schematic diagram illustrating the docking effect between the gantry-type feeding mechanism and the material box in an embodiment of this utility model.

[0019] Figure 3 This is a structural diagram of the gantry-type feeding mechanism according to an embodiment of the present utility model;

[0020] Figure 4 This is another structural view of the gantry-type feeding mechanism according to an embodiment of the present utility model;

[0021] Figure 5 for Figure 4 Enlarged view of point A in the middle;

[0022] Figure 6 This is a front structural view of the gantry-type feeding mechanism according to an embodiment of the present utility model;

[0023] exist Figures 1 to 6 In the diagram, the correspondence between the component names and the drawing numbers is as follows:

[0024] 1--X-axis moving assembly, 101--left and right moving mechanism, 102--connecting plate, 2--Y-axis lifting assembly, 201--lifting connector, 202--lifting mechanism, 3--Z-axis moving assembly, 4--clamping mechanism, 401--clamping plate, 402--clamping arm, 403--clamping strip, 5--frame, 6--conveying mechanism, 7--material box, 8--support rod, 801--mounting slot, 9--slider seat, 10--drive motor, 11--first slot-type photoelectric switch, 12--second slot-type photoelectric switch, 13--slot-type photoelectric sensor sheet. Detailed Implementation

[0025] The embodiments of this utility model will be described in further detail below with reference to the accompanying drawings and examples. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this disclosure. The following examples are used to illustrate this utility model, but should not be used to limit the scope of this utility model.

[0026] In the description of this utility model, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," "head," "tail," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. In addition, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0027] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0028] Please refer to Figures 1 to 6 This utility model provides a gantry-type feeding mechanism for conveying material boxes to a lithium battery production line. It includes an X-axis moving component 1, a Y-axis lifting component 2, a Z-axis moving component 3, and a locking mechanism 4. The lithium battery production line includes a frame 5 and a conveying mechanism 6. The Y-axis lifting component 2 is mounted on the frame 5, and the X-axis moving component 1 is mounted on the Y-axis lifting component 2. The Y-axis lifting component 2 drives the X-axis moving component 1 to move vertically up and down along the Y-axis. The Z-axis moving component 3 is mounted on the X-axis moving component 1, and the X-axis moving component 1 drives the Z-axis moving component 3 to move left and right along the X-axis. The locking mechanism 4 is mounted on the Z-axis moving component 3, and the Z-axis moving component 3 drives the locking mechanism 4 to move back and forth along the Z-axis. The locking mechanism 4 is movably locked into the material box 7.

[0029] In this embodiment of the invention, the Y-axis lifting assembly 2 and the X-axis moving assembly 1 form a gantry structure. The gantry structure has high stability and rigidity, capable of withstanding large loads, ensuring that the clamping mechanism 4 does not experience significant deformation or shaking during the transport of the material box 7. This provides a stable foundation for the precise movement of the Z-axis moving assembly 3, ensuring the smoothness of the feeding process. In this embodiment, the X-axis, Y-axis, and Z-axis refer to the corresponding X, Y, and Z coordinate axes in a Cartesian coordinate system. The X-axis represents horizontal left-right movement, the Y-axis represents vertical up-down movement, and the Z-axis represents forward-backward movement perpendicular to the X-axis. Through the cooperation of the X-axis moving assembly 1, the Y-axis lifting assembly 2, and the Z-axis moving assembly 3, the clamping mechanism 4 and the material box 7 can move along the X, Y, and Z axes. This allows for accurate transport of lithium battery materials to the designated position in the oven within the confined space of the lithium battery filling and baking areas, meeting the requirements for frequent feeding.

[0030] In this embodiment, a snap-fit ​​mechanism 4 is used in conjunction with a material box 7 to transfer materials. The material box 7 contains lithium batteries and is baked in an oven. After baking, the snap-fit ​​mechanism 4, with the cooperation of the X-axis moving assembly 1, the Y-axis lifting assembly 2, and the Z-axis moving assembly 3, moves to the material box 7 and engages with it, then clamps or locks the material box 7. After the material box 7 engages with the snap-fit ​​mechanism 4, the X-axis moving assembly 1, the Y-axis lifting assembly 2, and the Z-axis moving assembly 3 are activated, moving the snap-fit ​​mechanism 4 and the material box 7 onto the conveying mechanism 6. The snap-fit ​​mechanism 4 releases the material box 7 and then returns to the oven to grab the next material box 7.

[0031] Preferably, the latching mechanism 4 includes a latching plate 401, with latching arms 402 symmetrically arranged at both ends of the latching plate 401. A latching strip 403 is provided at the bottom of each latching arm 402, and a latching groove is provided on the side of the material box 7 to cooperate with the latching strip 403. When the latching strip 403 mates with the latching groove, the latching strip 403 can be movably inserted into the latching groove. In this embodiment, latching arms 402 are respectively arranged on the left and right sides of the latching plate 401, and a latching strip 403 protruding inwards is located below each latching arm 402. A latching groove is provided on the material box 7. With the above structural configuration, during docking, the latching mechanism 4 moves to the front of the material box 7, aligning the latching strip 403 with the latching groove at the same horizontal level. Then, the latching mechanism 4 moves towards the material box 7, causing the latching strip 403 to slide into the latching groove. As the entire Z-axis moving assembly 3 moves upward, the latching mechanism 4 lifts the material box 7 to achieve material transfer. After the transfer is complete, the latching mechanism 4 can slide out from the rear of the material box 7, the latching strip 403 leaves the latching groove, and the latching mechanism 4 separates from the material box 7, ready for the next material transfer operation.

[0032] Preferably, the snap-fit ​​mechanism 4 includes a snap-fit ​​beam, with snap-fit ​​modules symmetrically arranged at both ends of the snap-fit ​​beam. Each snap-fit ​​module includes a fixed base, a cylinder, and a snap-fit ​​block. The material box 7 has snap-fit ​​holes. The fixed base is connected to the snap-fit ​​beam, the cylinder is mounted on the fixed base, and the snap-fit ​​block is mounted on the piston rod of the cylinder. When the snap-fit ​​block engages with the snap-fit ​​hole, it can be movably inserted into the snap-fit ​​hole. In this embodiment, the snap-fit ​​mechanism 4 uses a cylinder clamping structure. When the snap-fit ​​mechanism 4 moves to the position of the material box 7, the cylinder starts and drives the snap-fit ​​block to extend, inserting it into the snap-fit ​​hole, thus ensuring a stable engagement between the snap-fit ​​mechanism 4 and the material box 7. After the material is transferred to the oven, the cylinder drives the piston rod to retract, the snap-fit ​​block leaves the snap-fit ​​hole, and the snap-fit ​​mechanism 4 separates from the material box 7, preparing for the next material transfer operation.

[0033] Preferably, the Y-axis lifting assembly 2 includes two lifting connectors 201 and a pair of parallel lifting mechanisms 202, with the lifting connectors 201 mounted on the lifting mechanisms 202; the X-axis moving assembly 1 includes a left-right moving mechanism 101 and a connecting plate 102, with the top of the left-right moving mechanism 101 connected to the two lifting connectors 201 respectively, and the connecting plate 102 mounted on the left-right moving mechanism 101; the Z-axis moving assembly 3 includes a front-back moving mechanism, with the top of the front-back moving mechanism connected to the connecting plate 102, and the locking mechanism 4 mounted on the front-back moving mechanism. In this embodiment, the lifting mechanism 202 is a liftable device, and its structure can be a common screw drive, cylinder drive, hydraulic cylinder drive, etc. The left-right moving mechanism 101 and the front-back moving mechanism can adopt common screw drive structures, gear and rack meshing drive structures, cylinder push-pull structures, etc. With the above structural configuration, a pair of parallel lifting mechanisms 202 drive the overall lifting of the left and right moving mechanism 101 through the lifting connector 201. The left and right moving mechanism 101 drives the overall translation of the entire front and rear moving mechanism through the connecting plate 102, while the front and rear moving mechanism directly acts on the locking mechanism 4 and drives the locking mechanism 4 to move back and forth.

[0034] Preferably, the lifting mechanism 202, the left-right moving mechanism 101, and the front-back moving mechanism are all screw drive mechanisms. The screw drive mechanism includes a support rod 8 and a slider seat 9 slidably disposed on the support rod 8. The support rod 8 has a rotatable screw inside, and a nut seat is threadedly connected to the screw. The nut seat is fixedly connected to the slider seat 9. One end of the support rod 8 is provided with a drive motor 10, and the drive motor 10 is connected to the screw in a transmission connection. In this embodiment, the lifting mechanism 202, the left-right moving mechanism 101, and the front-back moving mechanism all adopt the same transmission structure, which is a screw disassembly mechanism. The screw drive mechanism uses a long strip-shaped support rod 8, which can be composed of multiple metal plates spliced ​​together. The support rod 8 has a hollow internal structure and is provided with a rotatable screw. A nut seat is provided on the screw, and a slider seat 9 is provided on the support rod 8. After the nut seat and the slider seat 9 are connected, when the screw rotates, it can drive the slider seat 9 to move in the length direction of the support rod 8. The reciprocating movement of the slider seat 9 is achieved by driving the lead screw to rotate forward and backward via the drive motor 10. By connecting the slider seat 9 to the corresponding lifting connector 201, connecting plate 102, or locking mechanism 4, the locking mechanism 4 can move in three axes.

[0035] Preferably, one end of the support rod 8 is provided with a first slotted photoelectric switch 11, and the other end is provided with a second slotted photoelectric switch 12; the side of the slider seat 9 is provided with a slotted photoelectric sensor 13, which is respectively configured to cooperate with the first slotted photoelectric switch 11 and the second slotted photoelectric switch 12. In this embodiment, by providing the first slotted photoelectric switch 11 and the second slotted photoelectric switch 12 at both ends of the support rod 8, when the slotted photoelectric sensor 13 on the side of the slider seat 9 triggers the first slotted photoelectric switch 11 or the second slotted photoelectric switch 12, the slider seat 9 stops moving or moves in the opposite direction, thereby achieving precise control of the movement range of the slider seat 9.

[0036] Preferably, the outer side of the support rod 8 is provided with a mounting groove 801, and a plurality of slidable slider nuts are provided in the mounting groove 801. The first slotted photoelectric switch 11 and the second slotted photoelectric switch 12 are respectively mounted on the mounting groove 801 through the slider nuts. By providing slidable slider nuts, the mounting positions of the first slotted photoelectric switch 11 and the second slotted photoelectric switch 12 can be moved easily, and the movement range of the slider seat 9 can be quickly adjusted.

[0037] Preferably, the bottom of the Z-axis moving component 3 is further provided with a vision detection module, which is used to detect whether the material box 7 is full. By setting up a vision detection module, such as an optical camera, the optical camera takes photos or videos of the material box 7, and the captured video or photos are analyzed to detect whether the material box 7 is full and can issue an alert. In addition, the vision detection module can also assist in positioning the material box 7, so that the locking mechanism 4 can more accurately engage with the material box 7.

[0038] Preferably, the latching mechanism 4 is equipped with a sensor switch, and the material box 7 is equipped with a triggering mechanism that cooperates with the sensor switch. The triggering mechanism can trigger the sensor switch. By setting the triggering mechanism, which can be a trigger rod, a trigger block, or a trigger plate, when the latching mechanism 4 moves to the position of the material box 7, the triggering mechanism and the sensor switch are triggered, indicating that the latching mechanism 4 has been latched in place. At this time, the X-axis moving component 1, the Y-axis lifting component 2, and the Z-axis moving component 3 can then drive the latching mechanism 4 to move away. Through the above structural design, it can be ensured that the latching mechanism 4 can catch the material box 7 every time it grips.

[0039] Preferably, the front end of the latching mechanism 4 is provided with a distance sensor. In an embodiment of this utility model, the distance sensor is used to detect the distance between the latching mechanism 4 and the oven, so as to better control the length and distance of the latching mechanism 4 extending into the oven, so that material boxes 7 of different sizes can be well delivered into the designated position of the oven, improving the accuracy of delivery.

[0040] Compared with existing technologies, the advantages of this invention are as follows: This invention uses an X-axis moving component, a Y-axis lifting component, and a Z-axis moving component to drive the locking mechanism. The locking mechanism cooperates with the material box and feeds the material box into the conveying mechanism, thereby achieving rapid material transfer. This invention adopts a three-axis moving structure, ensuring precise alignment and enabling rapid and accurate transfer of lithium batteries from the oven to the conveying mechanism. This makes the connection between the baking and liquid injection processes of lithium batteries smoother, reducing downtime and waiting time for materials. The lithium batteries are also more stable during transport, improving the operating efficiency of the production line. This invention is compact, simple in structure, and tightly connected to the oven, requiring no space for fork operation and occupying minimal space, effectively reducing the footprint on the production floor.

[0041] The embodiments of this utility model are given for illustrative and descriptive purposes only, and are not intended to be exhaustive or to limit the utility model to the forms disclosed. Many modifications and variations will be apparent to those skilled in the art. The embodiments were chosen and described in order to better illustrate the principles and practical applications of this utility model, and to enable those skilled in the art to understand this utility model and design various embodiments with various modifications suitable for a particular purpose.

Claims

1. A gantry type feeding mechanism for conveying a material box to a lithium battery production line, characterized in that, It includes an X-axis moving assembly (1), a Y-axis lifting assembly (2), a Z-axis moving assembly (3), and a locking mechanism (4); The lithium battery production line includes a frame (5) and a conveying mechanism (6); The Y-axis lifting assembly is mounted on the frame, and the X-axis moving assembly is mounted on the Y-axis lifting assembly. The Y-axis lifting assembly drives the X-axis moving assembly to move vertically up and down along the Y-axis. The Z-axis moving assembly is mounted on the X-axis moving assembly, and the X-axis moving assembly drives the Z-axis moving assembly to move left and right along the X-axis. The locking mechanism is mounted on the Z-axis moving assembly, and the Z-axis moving assembly drives the locking mechanism to move back and forth along the Z-axis. The locking mechanism is movably locked into the material box.

2. The gantry-type loading mechanism according to claim 1, characterized in that The snap-fit ​​mechanism includes a snap-fit ​​plate (401), snap-fit ​​arms (402) are symmetrically provided at both ends of the snap-fit ​​plate, and a snap-fit ​​strip (403) is provided at the bottom of the snap-fit ​​arm. The side of the material box is provided with a snap-fit ​​groove that cooperates with the snap-fit ​​strip. When the snap-fit ​​strip is connected to the snap-fit ​​groove, the snap-fit ​​strip can be movably inserted into the snap-fit ​​groove.

3. The gantry-type loading mechanism according to claim 1, wherein The snap-fit ​​mechanism includes a snap-fit ​​beam, with snap-fit ​​modules symmetrically arranged at both ends of the snap-fit ​​beam. Each snap-fit ​​module includes a fixed base, a cylinder, and a snap-fit ​​block. The material box is provided with snap-fit ​​holes. The fixed base is connected to the snap-fit ​​beam, the cylinder is mounted on the fixed base, and the snap-fit ​​block is mounted on the piston rod of the cylinder. When the snap-fit ​​block mates with the snap-fit ​​hole, the snap-fit ​​block can be movably inserted into the snap-fit ​​hole.

4. The gantry-type loading mechanism according to claim 1, wherein The Y-axis lifting assembly includes two lifting connectors (201) and a pair of lifting mechanisms (202) arranged parallel to each other, with the lifting connectors mounted on the lifting mechanisms; the X-axis moving assembly includes a left-right moving mechanism (101) and a connecting plate (102), with the top of the left-right moving mechanism connected to the two lifting connectors respectively, and the connecting plate mounted on the left-right moving mechanism; the Z-axis moving assembly includes a front-back moving mechanism, with the top of the front-back moving mechanism connected to the connecting plate, and the locking mechanism mounted on the front-back moving mechanism.

5. The gantry-type loading mechanism according to claim 4, wherein The lifting mechanism, the left and right moving mechanism, and the front and back moving mechanism are all screw drive mechanisms; the screw drive mechanism includes a support rod (8) and a slider seat (9) slidably disposed on the support rod; the support rod is provided with a rotatable screw, and a nut seat is threadedly connected to the screw, and the nut seat is fixedly connected to the slider seat; one end of the support rod is provided with a drive motor (10), and the drive motor is connected to the screw in a transmission connection.

6. The gantry-type loading mechanism according to claim 5, wherein One end of the support rod is provided with a first slotted photoelectric switch (11), and the other end is provided with a second slotted photoelectric switch (12); the side of the slider seat is provided with a slotted photoelectric sensor (13), and the slotted photoelectric sensor is respectively configured to cooperate with the first slotted photoelectric switch and the second slotted photoelectric switch.

7. The gantry-type loading mechanism according to claim 6, wherein The outer side of the support rod is provided with a mounting groove (801), and a plurality of slidable slider nuts are arranged in the mounting groove.

8. The gantry-type material loading mechanism of claim 1, wherein, The bottom of the Z-axis moving assembly is further provided with a visual detection module, which is used to detect whether the material on the material box is full.

9. The gantry-type material loading mechanism according to any one of claims 1 to 8, characterized in that The clamping mechanism is provided with an induction switch, and the material box is provided with a triggering mechanism matched with the induction switch, and the triggering mechanism can trigger the induction switch.

10. The gantry-type loading mechanism according to claim 9, wherein The front end of the clamping mechanism is provided with a distance sensor.

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