Rotary multi-gripper feeding anti-deviation structure

Abstract

The utility model discloses a rotary type multi-gripper feeding anti-deviation structure which comprises a fixing frame, a feeding rail and a material box, the feeding rail and the material box are installed in the fixing frame, a material grabbing mechanism is installed at the upper end of the fixing frame and comprises a telescopic assembly, a rotating assembly and a fixing plate, the output end of the telescopic assembly is fixedly connected with the rotating assembly, and the output end of the rotating assembly is fixedly connected with the fixing plate. The upper end of the fixing plate is fixedly connected with the output end of the rotating assembly, four clamping jaws are symmetrically arranged at the lower end of the fixing plate in a cross shape with the output end of the rotating assembly as the center, the material boxes are arranged below the opposite clamping jaws, the feeding rail is arranged under the output end of the rotating center, the sliding rail is arranged at the upper end of the fixing frame, and the telescopic assembly is slidably connected with the sliding rail. A detection assembly used for detecting material deviation is arranged at the upper end of the material box. According to the technical scheme, two pieces of materials can be clamped at the same time and placed on the material box alternately, the feeding efficiency is improved, whether the positions of the materials deviate or not is detected through the detection assembly on the material box, and it is guaranteed that the materials are accurately placed in the material box.

Description

Technical Field

[0001] This utility model relates to a feeding structure, and more particularly to a rotary multi-grip feeding anti-deviation structure. Background Technology

[0002] Integrated circuits, which are fabricated on the surface of semiconductor chips, are also known as thin-film integrated circuits. They are not limited to silicon chips, but also commonly include semiconductor materials such as gallium arsenide and germanium. The production process of semiconductor chip packaging products requires processes such as lead cutting, forming, and tube mounting. During the lead cutting process of integrated circuit chips, the wafer needs to be picked up by a feeding mechanism and placed on the feeding track.

[0003] In the prior art, application number CN202222176084.7 discloses a dual-gripper feeding structure. By setting up a dual material box frame and a dual mechanical gripper structure, and cooperating with the drive mechanism to drive the left and right mechanical grippers to grab the material pieces on the left and right material box frames, the material pieces can be grabbed alternately and efficiently and stably to the feeding track, thereby improving the feeding speed and meeting the punching speed requirements of the rebar cutting die, thus improving the processing efficiency.

[0004] However, in the above technologies, the mechanical gripper can only pick up one material at a time for rotational feeding, and the travel distance is relatively long, resulting in slow feeding efficiency, which is difficult to meet the current demand for high-efficiency production. Utility Model Content

[0005] The main purpose of this invention is to propose a rotary multi-grip feeding anti-deviation structure, which aims to solve the existing technical problems of slow feeding efficiency and easy deviation.

[0006] To achieve the above objectives, this utility model proposes a rotary multi-grip feeding anti-deviation structure, including a fixed frame, a feeding track installed within the fixed frame, and a material box. A gripping mechanism for clamping material from the feeding track into the material box is installed on the upper end of the fixed frame. Both the feeding track and the material box are located below the gripping mechanism. The gripping mechanism includes a telescopic component, a rotating component, and a fixed plate. The output end of the telescopic component is fixedly connected to the rotating component. The upper end of the fixed plate is fixedly connected to the output end of the rotating component. Four grippers are arranged symmetrically in a cross shape around the output end of the rotating component on the lower end of the fixed plate. The material box is located below each of the opposing grippers. The feeding track is located directly below the output end of the rotating component. A slide rail is provided on the upper end of the fixed frame, and the telescopic component is slidably connected to the slide rail. A detection component for detecting material deviation is provided on the upper end of the material box.

[0007] This invention uses two opposing grippers to grab two materials at once, then rotates them 90° to place the materials simultaneously in the material box, improving feeding efficiency. The rotational design shortens the gripper stroke, further increasing the feeding speed.

[0008] Preferably, a first infrared detector is provided at the end of the feeding track, and a telescopic baffle assembly is provided at a distance from the end of the feeding track that is greater than the length of the material in the conveying direction. The telescopic baffle assembly is used to keep the material below the grippers opposite to the grippers above the end of the feeding track.

[0009] This invention uses a first infrared detector to detect whether there is material at the end of the feeding track. When the material at the end of the feeding track reaches the preset position, the telescopic baffle assembly intercepts the material and moves it to the preset position, so that two opposing grippers can simultaneously pick up the material.

[0010] Preferably, the telescopic baffle assembly includes a first telescopic cylinder, a baffle, a second infrared detector, and a support frame. The support frame is fixedly connected to the feeding track. The first telescopic cylinder is fixedly installed on the support frame and its output end is fixedly connected to the baffle, so that the baffle moves telescopically inward toward the feeding track. The second infrared detector is fixedly installed on the support frame for detecting materials.

[0011] This invention uses a first telescopic cylinder to control the extension and retraction of a baffle to intercept materials, and then uses a second infrared detector to detect whether the interception was successful, ensuring that the materials are in place and easy to grab.

[0012] Preferably, the telescopic assembly includes a second telescopic cylinder, a slider is fixed to the upper end of the second telescopic cylinder, the output end of the lower end of the second telescopic cylinder is fixedly connected to the rotating assembly, and the slider is slidably connected to the slide rail.

[0013] This invention uses a telescopic cylinder to drive the gripper to extend and retract.

[0014] Preferably, the rotating component includes a drive motor and a rotating block, the drive motor and the rotating block are connected in a transmission connection, the upper end of the rotating block is fixedly connected to the output end of the telescopic component, and the lower end of the rotating block is rotatably connected to the upper end of the fixed plate.

[0015] Preferably, the detection component includes four third infrared detectors, which are respectively located at the four corners of the upper end of the material box.

[0016] Preferably, a guide portion is provided on the inner side of the upper end of the material box.

[0017] Preferably, the material box is provided with a telescopic tray assembly.

[0018] The technical solution of this utility model has the following beneficial effects: The technical solution of this utility model uses a telescopic component to extend and retract downwards, driving two opposing grippers to grab two materials at once, then lifting and driving the rotating component to rotate 90°, and then lowering it to place the materials in two material boxes at the same time. Meanwhile, the other two opposing grippers continue to grab materials on the feeding track, and the above operation is repeated to achieve rotation work and improve feeding efficiency. The rotation setting shortens the stroke of the grippers, further improving the feeding speed. The detection component on the material box detects whether there is a deviation in the material position and adjusts the gripper position in time to ensure that the material is accurately placed into the material box. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the overall structure of a rotary multi-grip hand-feeding anti-deviation structure according to an embodiment of the present invention;

[0021] Figure 2 This is a schematic diagram of a telescopic baffle assembly of a rotary multi-grip hand-feeding anti-deviation structure according to an embodiment of the present invention.

[0022] Figure 3 This is a schematic diagram of a rotating multi-grip hand-feeding anti-deviation structure according to an embodiment of the present invention.

[0023] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings.

[0024] Reference numerals: 1. Fixed frame; 2. Telescopic assembly; 3. Rotating assembly; 4. Fixed plate; 5. Gripper; 6. Feeding track; 7. Material box; 8. Detection assembly; 9. Material; 11. Slide rail; 21. Slider; 61. First infrared detector; 62. Support frame; 63. First telescopic cylinder; 64. Baffle; 65. Second infrared detector; 71. Guide part; 72. Telescopic pallet assembly; 73. Third infrared detector. Detailed Implementation

[0025] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0026] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in this utility model embodiment are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0027] Furthermore, the technical solutions of the various embodiments can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0028] This utility model proposes a rotary multi-grip hand-feeding anti-deviation structure.

[0029] like Figure 1 As shown in one embodiment of this utility model, the rotary multi-gripper feeding anti-deviation structure includes a fixed frame 1, a feeding track 6 installed in the fixed frame 1, and a material box 7. The upper end of the fixed frame 1 is equipped with a gripping mechanism for clamping material 9 from the feeding track 6 to the material box 7. The feeding track 6 and the material box 7 are both located below the gripping mechanism. The gripping mechanism includes a telescopic component 2, a rotating component 3, and a fixed plate 4. The output end of the telescopic component 2 is fixedly connected to the rotating component 3. The upper end of the fixed plate 4 is fixedly connected to the output end of the rotating component 3. The lower end of the fixed plate 4 is symmetrically arranged with four grippers 5 in a cross shape with the output end of the rotating component 3 as the center. A material box 7 is located below each of the opposing grippers 5. The feeding track 6 is located directly below the output end of the rotating center. The upper end of the fixed frame 1 is equipped with a slide rail 11. The telescopic component 2 is slidably connected to the slide rail 11. The upper end of the material box 7 is equipped with a detection component 8 for detecting the deviation of material 9.

[0030] The feeding track 6 can be composed of a conveyor belt and drive rollers, driven by a motor. A guide plate and baffle 64 are provided above the conveyor belt. Alternatively, the feeding track 6 can be composed of multiple rollers arranged side-by-side, driven by a drive belt, with a guide plate and baffle 64 above. Two material boxes 7 are respectively located on both sides of the feeding track 6, directly below the corresponding grippers 5. The telescopic component 2 can be a cylinder, hydraulic cylinder, or motor, where the motor achieves telescopic movement through the cooperation of a rack and pinion and gears (details omitted here). The rotating component 3 includes a motor, which can be directly driven by the motor or through a motor and gear transmission to achieve the rotation of the fixed plate 4. The grippers 5 can be directly made of finger cylinders. The structure can also include a support frame 62 and two clamping plates vertically arranged on the support frame 62 to form a clamping space. One clamping plate is fixedly connected to the support frame 62, and the other clamping plate is slidably connected to the support frame 62. The two clamping plates are moved closer or further apart by the cooperation of a motor and a lead screw. The structure of the gripper 5 is existing technology and can also be implemented in other ways, which will not be elaborated here. The detection component 8 structure can include a photoelectric sensor. The photoelectric sensor is installed at two opposite corners on the upper end of the material box 7. The photoelectric sensor is used to determine whether the material 9 has shifted. The distance between each pair of grippers 5 can be determined according to the length of the material 9 to ensure that the two grippers 5 can grip the material 9 at the same time.

[0031] In this embodiment, the telescopic component 2 extends downwards, driving two opposing grippers 5 to grab two materials 9 at once. Then, it lifts and drives the rotating component 3 to rotate 90°, and then lowers again to place the materials 9 into the two material boxes 7 simultaneously. At the same time, the other two opposing grippers 5 continue to grab materials 9 on the feeding track 6. The above operation is repeated to achieve rotation work and improve feeding efficiency. The rotation setting shortens the stroke of the grippers 5, further improving the feeding speed. The detection component 8 on the material box 7 detects whether the position of the materials 9 is offset and adjusts the position of the grippers 5 in time to ensure that the materials 9 are accurately placed into the material box 7.

[0032] Furthermore, the fixed frame 1 is the supporting part of the entire structure, made of high-strength metal materials, such as Q345 steel, and constructed into a frame structure through welding or bolting. The feeding track 6 is used to transport the material 9 to below the gripping mechanism. It is usually designed as a straight track, and its width is determined according to the size of the material 9, generally 5-10mm wider than the width of the material 9, to ensure that the material 9 can pass smoothly without significant deviation. The height of the baffle 64 is 1.2-1.5 times the height of the material 9. To prevent material 9 from falling off the sides of the track during conveying, the feeding track 6 is fixed to the bottom of the fixed frame 1 by bolts or welding. The material box 7 is used to store the gripped material 9. Its size is designed according to the size and quantity of the material 9. The material box 7 is made of metal sheet (such as stainless steel sheet) or high-strength plastic to ensure its strength and durability. The top of the material box 7 can be designed with inclined surfaces on opposite sides, making it funnel-shaped, which serves as a guide, increases the fault tolerance, and facilitates the placement of material 9 into the material box 7. The material box 7 is placed inside the fixed frame 1, below the gripping mechanism, and on the same horizontal plane as the feeding track 6. The position of the material box 7 should ensure that the grippers 5 of the gripping mechanism can accurately place the material 9 into it. The material box 7 can be placed in the designated position by setting a positioning groove or positioning block on the fixed frame 1 and using bolts or clips. The clamping jaws 5 are fixed in place to prevent the material box 7 from moving during use. The telescopic component 2 can be powered by an electric push rod or a cylinder to achieve the telescopic movement of the clamping jaws 5 in the vertical direction. The fixed end of the electric push rod is fixed to the slide rail 11 slider 21 on the upper end of the fixed frame 1 with bolts to ensure that it is firmly installed and can slide freely on the slide rail 11 with the slider 21. The output end of the electric push rod is fixedly connected to the rotating component 3 by a coupling or welding to ensure effective power transmission. The rotating component 3 adopts a combination of a rotary cylinder or a motor and a reducer to achieve the rotational movement of the clamping jaws 5. The fixed end of the rotary cylinder is fixedly connected to the output end of the telescopic component 2. The output shaft of the rotary cylinder is connected to the upper end of the fixed plate 4 by a key or bolts to ensure a firm connection and flexible rotation. The fixed plate 4 provides the mounting base for the clamping jaws 5 and is made of a metal plate (such as steel plate) with a thickness of 10-15mm. The fixed plate 4 is circular or square in shape. With the output end of the rotating component 3 as the center, four mounting holes are machined in a cross-shaped symmetrical pattern at the lower end of the fixed plate 4 for mounting the gripper 5. The gripper 5 can be a pneumatic gripper 5 or an electric gripper 5, and the selection is based on the shape, weight and gripping accuracy requirements of the material 9.For example, for gripping small parts, a pneumatic parallel gripper 5 with a stroke of 50mm and a clamping force of 200N can be selected. The gripper 5 is fixed to the mounting hole position of the fixed plate 4 by bolts or welding to ensure the positional accuracy and clamping force stability of the gripper 5. The opening and closing action of the gripper 5 is controlled by a pneumatic control system (for pneumatic grippers 5) or a motor drive system (for electric grippers 5). The clamping force of the gripper 5 is controlled by adjusting the air pressure or current to prevent damage to the material 9 or failure to clamp tightly, causing the material 9 to fall. The slide rail 11 is a linear guide rail. The slider 21 of the slide rail 11 is connected to the fixed end of the telescopic component 2, so that the telescopic component 2 can slide smoothly on the slide rail 11, reducing friction and vibration during movement. The detection component 8 is used to detect whether the material 9 has shifted when it is placed into the material box 7. A photoelectric sensor or a laser sensor can be selected. For example, a through-beam photoelectric sensor is selected, which has high detection accuracy and can quickly and accurately detect the position of the material 9. The transmitter and receiver of the photoelectric sensor are installed on both sides of the upper end of the material box 7. The positions of the transmitter and receiver should be adjusted according to the size of the material 9 and the range of possible deviation to ensure that the deviation of the material 9 can be effectively detected. The photoelectric sensor is connected to the control system through wires and transmits the detection signal to the control system. When the deviation of the material 9 is detected, the control system can issue an alarm or control the material gripping mechanism to adjust to ensure that the material 9 is accurately placed into the material box 7.

[0033] To better ensure that one or both opposing grippers 5 can simultaneously grip material 9, such as Figure 2 As shown, a first infrared detector 61 is provided at the end of the feeding track 6 to sense whether the material 9 at the end of the feeding track 6 has arrived. A telescopic baffle 64 assembly is then provided near the end of the feeding track 6 to lower the material 9, placing it below the corresponding gripper 5 at the upper end of the feeding track 6. This allows the material 9 to remain below the corresponding gripper 5 at the upper end of the feeding track 6, facilitating the simultaneous gripping of two pieces of material 9. The telescopic baffle 64 assembly is positioned greater than the length of the material 9 in the conveying direction. When the first infrared detector 61 detects that the material 9 at the end of the feeding track 6 has arrived, the telescopic baffle 64 assembly intercepts the other material 9 to a preset position, allowing the two opposing grippers 5 to simultaneously grip the material 9.

[0034] Preferably, such as Figure 2As shown, the telescopic baffle 64 assembly includes a first telescopic cylinder 63, a baffle 64, a second infrared detector 65, and a support frame 62. The support frame 62 is fixedly connected to the feeding track 6. The first telescopic cylinder 63 is fixedly installed on the support frame 62, and its output end is fixedly connected to the baffle 64, causing the baffle 64 to telescopically move inward toward the feeding track 6. The second infrared detector 65 is fixedly installed on the support frame 62 to detect the material 9. The first telescopic cylinder 63 controls the extension and retraction of the baffle 64 to intercept the material 9, and the second infrared detector 65 detects whether the interception is successful, ensuring that the material 9 is in place for easy grabbing.

[0035] The support frame 62 consists of several support columns and connecting beams, forming a frame structure. Mounting holes or welded fixing seats are pre-machined on the feed track 6 corresponding to the positions of the support columns of the support frame 62. The first telescopic cylinder 63 is a double-acting cylinder, fixed to the connecting beam of the support frame 62 by bolts or mounting seats. The baffle 64 is made of metal (such as stainless steel) or high-strength plastic to ensure its strength and durability. The baffle 64 is fixedly connected to the output end of the first telescopic cylinder 63. During connection, it is essential to ensure that the baffle 64 is perpendicular to the piston rod and that the connection is secure to prevent loosening or detachment during the extension and retraction of the baffle 64. The second infrared detector 65 is a diffuse reflection infrared detector, capable of detecting reflections from the surface of the material 9. The infrared light is used to determine the presence of material 9, which is suitable for detecting material 9 in the feed track 6. The second infrared detector 65 is fixed on the support frame 62 near the feed track 6, and its detection direction should be towards the material 9 conveying path in the feed track 6. The second infrared detector 65 is fixed on the support frame 62 with screws or clips. For the first telescopic cylinder 63, the air source needs to be connected to the two air inlets of the cylinder through air pipes. Solenoid valves are installed in the air circuit to control the extension and retraction direction and action of the cylinder. At the same time, filters, pressure reducing valves and oil mist lubricators are installed in the air circuit to filter, reduce pressure and lubricate the air source to ensure that the cylinder can work normally and stably. A control program is written in the control system to realize the automated control of the telescopic baffle 64 assembly.

[0036] In addition, the telescopic component 2 includes a second telescopic cylinder, with a slider 21 fixed at the upper end of the second telescopic cylinder. The output end of the lower end of the second telescopic cylinder is fixedly connected to the rotating component 3. The slider 21 is slidably connected to the slide rail 11. The telescopic cylinder drives the gripper 5 to telescopically move, wherein the slide rail 11 can adjust the lateral position of the gripper 5.

[0037] To better enable the gripper 5 to rotate, the rotating assembly 3 includes a drive motor and a rotating block. The rotating shaft of the drive motor is keyed with a transmission gear. The drive motor is fixedly mounted on the fixed plate 4. The rotating block has transmission serrations on its periphery. The transmission gear and the transmission serrations mesh with each other. The rotating block is fixedly connected to the output end of the telescopic assembly 2.

[0038] Furthermore, a motor mounting bracket is designed at a suitable position at the output end of the telescopic component 2. The motor mounting bracket can be fixed to the output end of the telescopic component 2 by welding or bolting. The size and shape of the motor mounting bracket must match the selected drive motor to ensure a stable motor installation. The drive motor is fixed to the motor mounting bracket using bolts. During installation, the concentricity of the motor shaft and the connecting shaft of the rotating block must be ensured. This can be measured and adjusted using a dial indicator, with the concentricity error controlled within 0.05mm to reduce vibration and wear during motor operation. The rotating block is a key component connecting the drive motor and the fixed plate 4. Its shape is typically designed as a cylinder or disc to ensure rotational stability. The rotating block is made of high-strength metal materials, such as 45... The rotating block is constructed of steel or aluminum alloy to withstand the torque and centrifugal force generated during the rotation of the material handling mechanism. The upper end of the rotating block has a connection hole that matches the drive motor shaft. This connection hole can be connected to the motor shaft using a keyway connection or a coupling connection. If a keyway connection is used, matching keyways and keys are machined on the motor shaft and the rotating block's connection hole, respectively. The key is installed in the keyway to transmit torque. If a coupling connection is used, a suitable type of coupling, such as a flexible coupling, is selected to buffer the impact during motor start-up and stop. The lower end of the rotating block has a rotating shaft, which is rotatably connected to the upper end of the fixed plate 4 via a bearing. The upper end of the rotating block is fixed to the output end of the telescopic component 2 using bolts or welding. A bearing is installed on the rotating shaft at the lower end of the rotating block to achieve a rotatable connection with the upper end of the fixed plate 4.

[0039] Preferably, such as Figure 3 As shown, the detection component 8 includes four third infrared detectors 73. The four infrared detectors are respectively located at the four corners of the upper end of the material box 7, which can more accurately detect whether the position of the material 9 above the material box 7 is offset from the opening of the material box 7, and prevent the material 9 from tipping over or falling outside the material box 7.

[0040] The third infrared detector 73 is a through-beam infrared detector, which consists of an infrared transmitter and an infrared receiver. It determines the position of material 9 by detecting whether the infrared light is blocked, thus meeting the requirement for accurate detection of the position of material 9 above the material box 7. To install four third infrared detectors 73, structural design is required at the four corners of the upper part of the material box 7. Mounting holes or slots are pre-drilled at each corner of the material box 7 according to the size of the selected infrared detector. The four third infrared detectors 73 are then installed at the four corners of the upper part of the material box 7, ensuring that the infrared transmitter and receiver are accurately aligned, with the deviation angle controlled within ±1°. To ensure detection accuracy, the detection optical path of each infrared detector should be parallel to the opening plane of the material box 7. This allows for better detection of whether the material 9 is offset from the opening of the material box 7 in the horizontal direction. The signal output pin of each third infrared detector 73 is connected to the signal acquisition module of the control system through a shielded wire. The shielded wire can effectively reduce the influence of external electromagnetic interference on signal transmission and ensure signal accuracy. A detection logic program is written in the control system. When the material 9 is placed above the material box 7, if the light between any set of infrared transmitters and receivers is blocked, the corresponding third infrared detector 73 will output a signal change. The control system determines whether the material 9 has shifted based on the received signal change, and then controls the rotating component 3 and the slide rail 11 to adjust their positions accordingly to ensure that the material 9 is smoothly placed into the material box 7.

[0041] Preferably, such as Figure 3 As shown, a guide part 71 is provided on the inner side of the upper end of the material box 7. It is obtained by obliquely cutting the inner side of the upper end of the material box 7 to guide the material 9 and increase the fault tolerance rate of the material 9.

[0042] Preferably, the material box 7 is provided with a telescopic tray assembly 72, which is used to support the material 9 and move it downward according to the stacking of the material 9, so that the uppermost material 9 is kept horizontal with the upper end of the material box 7. The structure includes a tray and a drive motor, which drives the tray to move up and down through a lead screw.

[0043] Specifically, the working principle and usage process of this utility model are as follows: The telescopic component 2 extends downward, driving two opposing grippers 5 to grab two materials 9 at once. Then, the rotating component 3 is lifted and rotated 90°, and then lowered to place the materials 9 into the two material boxes 7 simultaneously. At the same time, the other two opposing grippers 5 continue to grab materials 9 on the feeding track 6. The above operation is repeated to achieve rotation work and improve feeding efficiency. The rotation setting shortens the stroke of the grippers 5, further improving the feeding speed. The detection component 8 on the material box 7 detects whether the position of the materials 9 is offset and adjusts the position of the grippers 5 in time to ensure that the materials 9 are accurately placed into the material box 7.

[0044] The above description is only a preferred embodiment of the present utility model and does not limit the patent scope of the present utility model. All equivalent structural transformations made under the inventive concept of the present utility model using the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A rotary multi-grip feeding anti-deviation structure, comprising a fixed frame (1), a feeding track (6) installed within the fixed frame (1), and a material box (7), wherein a gripping mechanism for clamping material (9) from the feeding track (6) to the material box (7) is installed at the upper end of the fixed frame (1), and the feeding track (6) and the material box (7) are both located below the gripping mechanism, characterized in that, The material gripping mechanism includes a telescopic component (2), a rotating component (3), and a fixed plate (4). The output end of the telescopic component (2) is fixedly connected to the rotating component (3). The upper end of the fixed plate (4) is fixedly connected to the output end of the rotating component (3). The lower end of the fixed plate (4) is symmetrically arranged with four grippers (5) in a cross shape with the output end of the rotating component (3) as the center. The material box (7) is provided below each of the opposing grippers (5). The feeding track (6) is located directly below the output end of the rotating center. The upper end of the fixed frame (1) is provided with a slide rail (11). The telescopic component (2) is slidably connected to the slide rail (11). The upper end of the material box (7) is provided with a detection component (8) for detecting the offset of the material (9).

2. The rotary multi-grip anti-deviation structure for feeding according to claim 1, characterized in that, The feeding track (6) is provided with a first infrared detector (61) at the end. The feeding track (6) is provided with a telescopic baffle (64) assembly at a distance from the end of the track that is greater than the length of the material (9) in the conveying direction. The telescopic baffle (64) assembly is used to make the material (9) stay below the gripper (5) opposite to the gripper (5) above the end of the feeding track (6).

3. The rotary multi-grip anti-deviation structure for feeding according to claim 2, characterized in that, The telescopic baffle (64) assembly includes a first telescopic cylinder (63), a baffle (64), a second infrared detector (65), and a support frame (62). The support frame (62) is fixedly connected to the feeding track (6). The first telescopic cylinder (63) is fixedly installed on the support frame (62) and the output end of the first telescopic cylinder (63) is fixedly connected to the baffle (64), so that the baffle (64) moves telescopically in the feeding track (6). The second infrared detector (65) is fixedly installed on the support frame (62) for detecting the material (9).

4. The rotary multi-grip anti-deviation structure for feeding according to claim 1, characterized in that, The telescopic assembly (2) includes a second telescopic cylinder, with a slider (21) fixed at the upper end of the second telescopic cylinder, and the output end of the lower end of the second telescopic cylinder is fixedly connected to the rotating assembly (3). The slider (21) is slidably connected to the slide rail (11).

5. The rotary multi-grip anti-deviation structure for feeding according to claim 1, characterized in that, The rotating component (3) includes a drive motor and a rotating block. The drive motor and the rotating block are connected in a transmission connection. The upper end of the rotating block is fixedly connected to the output end of the telescopic component (2), and the lower end of the rotating block is rotatably connected to the upper end of the fixed plate (4).

6. The rotary multi-grip anti-deviation structure for feeding according to claim 1, characterized in that, The detection component (8) includes four third infrared detectors (73), which are respectively located at the four corners of the upper end of the material box (7).

7. The rotary multi-grip anti-deviation structure for feeding according to claim 1, characterized in that, The material box (7) has a guide part (71) on the inner side of its upper end.

8. The rotary multi-grip anti-deviation structure for feeding according to claim 1, characterized in that, The material box (7) is equipped with a telescopic tray assembly (72).

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