CN113371430A

CN113371430A - Feeding device

Info

Publication number: CN113371430A
Application number: CN202010114598.2A
Authority: CN
Inventors: 邬正华; 蒲平安; 严志峰; 曾习云; 张旭; 柳志杰
Original assignee: Fuding Electronic Technology Jiashan Co Ltd
Current assignee: Fuding Electronic Technology Jiashan Co Ltd
Priority date: 2020-02-25
Filing date: 2020-02-25
Publication date: 2021-09-10

Abstract

The invention provides a feeding device which comprises a conveying mechanism, a centering positioning mechanism and a taking and placing mechanism, wherein the conveying mechanism is used for conveying a sub-basket provided with a product; the centering positioning mechanism is arranged on one side of the conveying mechanism and comprises a supporting piece, a moving piece and two centering positioning pieces, wherein the moving piece and the two centering positioning pieces are arranged on the supporting piece, the two centering positioning pieces can be arranged above the moving piece in a relatively movable manner, and the moving piece is used for bearing the sub-basket conveyed by the conveying mechanism and moving the sub-basket to a position between the two centering positioning pieces; the two centering positioning pieces are used for centering and positioning the sub-basket; the taking and placing mechanism is arranged on one side of the centering and positioning mechanism and used for moving and taking the secondary basket positioned in the center and placing the secondary basket in the primary basket. The feeding device can automatically place the sub-basket provided with the product in the female basket accurately, and is high in feeding speed, high in efficiency and capable of saving manpower.

Description

Feeding device

Technical Field

The invention relates to the field of mechanical automatic processing, in particular to a feeding device.

Background

Generally, when cleaning framed products, a plurality of products are first installed in the sub-baskets, then the sub-baskets are installed in the main basket, and finally the cleaning operation is performed on the products in the main basket. It is common in the prior art to install a plurality of sub-baskets in the mother basket by manual work. However, the labor intensity of personnel is high, the efficiency is low, and the cost is high.

Disclosure of Invention

In view of the above circumstances, it is necessary to provide a feeding device with high efficiency to solve the above problems.

A feeding device comprises a conveying mechanism, a centering positioning mechanism and a taking and placing mechanism, wherein the conveying mechanism is used for conveying a sub-basket provided with a product; the centering positioning mechanism is arranged on one side of the conveying mechanism and comprises a supporting piece, a moving piece and two centering positioning pieces, wherein the moving piece and the two centering positioning pieces are arranged on the supporting piece, the two centering positioning pieces can be arranged above the moving piece in a relatively movable manner, and the moving piece is used for bearing the sub-basket conveyed by the conveying mechanism and moving the sub-basket to a position between the two centering positioning pieces; the two centering positioning pieces are used for centering and positioning the sub-basket; the taking and placing mechanism is arranged on one side of the centering and positioning mechanism and used for moving and taking the secondary basket positioned in the center and placing the secondary basket in the primary basket.

Further, the moving part comprises a plurality of roller parts rotatably arranged on the supporting part, a transmission part connected with the plurality of roller parts and a driving part arranged on the supporting part, and the driving part is connected with the transmission part; the driving part can drive the transmission part to drive the plurality of roller parts to rotate so as to drive the sub-basket to move to two between the centering positioning pieces.

Further, the centering positioning mechanism further comprises two flow guide pieces arranged on the support piece, wherein the two flow guide pieces are positioned on two opposite sides of the roller part and used for guiding the sub-baskets conveyed by the roller part.

Further, the centering positioning mechanism further comprises a limiting part, wherein the limiting part is arranged at one end, far away from the conveying mechanism, of the supporting part and used for limiting the sub-baskets moving to two positions between the centering positioning parts.

Further, the setting element placed in the middle is including locating power spare and link mechanism on the support piece, link mechanism respectively with two the setting element placed in the middle reaches the power spare is connected, power spare can drive link mechanism drives two the setting element placed in the middle is close to each other to remove to two the position placed in the middle is fixed a position in the middle to the sub-basket between the setting element placed in the middle.

Furthermore, the centering positioning mechanism also comprises a connecting piece and two fixing pieces arranged on two opposite sides of the supporting piece, the connecting piece is connected with the two fixing pieces, and the power piece is arranged on the connecting piece; the connecting rod mechanism comprises a first connecting rod, at least two second connecting rods and two third connecting rods, and the first connecting rod is arranged above the connecting piece and is connected with the power output end of the power piece; one end of at least one second connecting rod is rotatably connected with the fixing piece, and the other end of the second connecting rod is connected with one centered positioning piece; two ends of each third connecting rod are respectively connected with the first connecting rod and the second connecting rod; the power part can drive the first connecting rods to ascend or descend, so that the two second connecting rods respectively drive the two connected centering positioning parts to be far away from or close to each other.

Furthermore, the centering positioning part further comprises a position sensing part, and the position sensing part is arranged on the supporting part and used for sensing whether the sub-basket on the moving part moves to a preset position or not.

Furthermore, the picking and placing mechanism further comprises a bearing piece and a picking and placing driving piece, wherein the bearing piece is used for bearing the centrally positioned sub-basket; the taking and placing driving piece is connected with the bearing piece and used for driving the bearing piece to bear the centrally positioned sub-basket.

Furthermore, the taking and placing mechanism further comprises a clamping piece and a clamping driving piece arranged on one side of the bearing piece, and the clamping piece is used for clamping the sub-basket on the bearing piece; the clamping driving piece is connected with the clamping piece and can drive the clamping piece to move towards the direction close to the bearing piece so as to clamp the sub-basket on the bearing piece.

Furthermore, the feeding device also comprises an anti-collision mechanism, the anti-collision mechanism comprises a pushing piece and a travel switch, and the pushing piece is movably arranged on one side of the female basket; the travel switch is arranged on the moving path of the pushing piece; the pushing piece can trigger the travel switch when moving to a preset position under the collision of the female basket, so that the travel switch sends an impact signal.

The feeding device bears the son basket which is provided with the product and conveyed by the conveying mechanism through the moving piece and moves the son basket to a position between the two centering positioning pieces for centering, and then the taking and placing mechanism moves the son basket which is centered and placed in the mother basket. Compared with the prior art, the feeding device can automatically place the sub-basket provided with the product in the female basket accurately, and is high in feeding speed, high in efficiency and capable of saving manpower.

Drawings

Fig. 1 is a schematic perspective view of a feeding device according to an embodiment of the present invention.

Fig. 2 is a schematic perspective view of a centering mechanism in the loading device shown in fig. 1.

Fig. 3 is a partial perspective view of a centering mechanism in the loading device shown in fig. 2.

Fig. 4 is a schematic perspective view of the withdrawing mechanism of the loading device shown in fig. 1.

Fig. 5 is a schematic view of an assembly structure of the anti-collision mechanism and the female basket in the feeding device shown in fig. 1.

Fig. 6 is a schematic perspective view of a collision prevention mechanism in the feeding device shown in fig. 5.

Description of the main elements

Loading device 100

Sub-basket 200

Mother basket 300

Cleaning table 400

Conveying mechanism 10

Conveying rack 11

Conveyor belt 12

Centering mechanism 20

Support member 21

Moving part 22

Roller section 221

Roller 2211

Roller 2212

Transmission part 222

Drive section 223

Centering spacer 23

Fixing member 24

Connecting piece 25

Power element 26

Link mechanism 27

First connecting rod 271

First link 2711

Second link 2712

Third link 2713

Second connecting bar 272

Third connecting rod 273

Link hinge mount 274

Flow guide 28

Guide plate 281

Guide plate strut 282

Position limiting member 29

Position sensing member 291

Pick and place mechanism 30

Carrier 31

Pick and place drive 32

Retaining member 33

Retaining the drive member 34

Collision avoidance mechanism 40

Pusher 41

Position switch 42

Rocker contact 421

Fixed seat 43

Guide rail 44

Slider 45

The following detailed description of the buffer 46 will further illustrate the present invention in conjunction with the above-described figures.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. When an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Referring to fig. 1 and 5 together, the present application provides a loading device 100 for placing a sub-basket 200 in a main basket 300, the sub-basket 200 containing a plurality of products (not shown). In this embodiment, the sub-basket 200 and the main basket 300 are both frame-like structures. The mother basket 300 is hung on the washing platform 400, and after the feeding device 100 places the plurality of the sub-baskets 200 in the mother basket 300, a washing device (not shown) installed on the washing platform 400 can wash the products in the mother basket 300. Wherein each mother basket 300 can be placed with 18 son baskets 200, and each son basket 200 can be placed with 12 products.

The feeding device 100 includes a conveying mechanism 10, a centering mechanism 20, a pick-and-place mechanism 30, a collision avoidance mechanism 40, and a controller (not shown).

Specifically, the conveying mechanism 10 is used to convey the product-equipped sub-baskets 200. The centering mechanism 20 is disposed on one side of the conveying mechanism 10, and is used for carrying the sub-basket 200 conveyed by the conveying mechanism 10 and centering the sub-basket 200. The pick-and-place mechanism 30 is disposed between the centering mechanism 20 and the mother basket 300, and is used for moving the centered sub-basket 200 and placing the sub-basket 200 in the mother basket 300. The anti-collision mechanism 40 is disposed at one side of the primary basket 300 and is used for sending a collision signal after the primary basket 300 is collided. The controller is electrically connected with the conveying mechanism 10, the centering and positioning mechanism 20, the pick-and-place mechanism 30 and the anti-collision mechanism 40 respectively and controls the corresponding actions of the mechanisms.

The conveying mechanism 10 includes a conveying frame 11, a conveying belt 12 disposed on the conveying frame 11, and a motor (not shown). The motor is connected to the conveyor belt 12 for driving the conveyor belt 12 to convey the product-loaded sub-baskets 200.

Referring to fig. 2 and fig. 3, the centering mechanism 20 includes a supporting member 21, a moving member 22, two centering members 23, two fixing members 24, a connecting member 25, a power member 26, and a link mechanism 27.

The support 21 has a substantially rectangular parallelepiped frame structure.

The moving member 22 is disposed on the supporting member 21 and is abutted against the conveying belt 12 of the conveying mechanism 10 for carrying the sub-basket 200 conveyed by the conveying mechanism 10 and moving it between the two centering locators 23.

Specifically, the moving member 22 includes a plurality of roller portions 221 rotatably provided on the support member 21, a transmission portion 222 connected to the plurality of roller portions 221, and a driving portion 223 provided on the support member 21. The plurality of roller portions 221 are arranged side by side on the support member 21. The driving part 223 is connected with the transmission part 222; the driving part 223 can drive the transmission part 222 to drive the plurality of roller parts 221 to rotate so as to drive the sub-basket 200 to move between the two centering positioning parts 23.

In the present embodiment, the roller part 221 includes a roller 2211 provided on the support 21 and a plurality of rollers 2212 provided on the roller 2211. The transmission part 222 is a transmission chain, and may connect the rollers 2211 of the plurality of roller parts 221 together. The transmission portion 222 is a driving motor.

The centering spacer 23 is substantially plate-shaped. Two centering members 23 are movably disposed above the moving member 22 for centering the sub-basket 200.

The fixing member 24 and the connecting member 25 are plate-shaped. Two fixing pieces 24 are provided on opposite sides of the support 21. The connecting member 25 is disposed below the roller part 221 and connected between the two fixing members 24.

The power member 26 is provided on the connecting member 25. In this embodiment, the power member 26 is a cylinder.

The link mechanism 27 includes a first connecting rod 271, two second connecting rods 272 and two third connecting rods 273, the first connecting rod 271 is disposed above the connecting member 25 and connected to the power output end of the power member 26. Each of the second connecting rods 272 has one end rotatably connected to the fixing member 24 and the other end connected to one of the centering spacers 23 through the link hinge base 274. Both ends of each third connecting rod 273 are movably connected to one end of the first connecting rod 271 and the second connecting rod 272, respectively. In practical use, the power member 26 can drive the first connecting rod 271 to ascend or descend, so that the two second connecting rods 272 respectively drive the two connected centering positioning members 23 to move away from or close to each other, thereby achieving the oblique placing/clamping of the sub-basket 200.

In this embodiment, each second connecting rod 272 comprises two parallel movable rods, one end of each movable rod is rotatably connected to the fixed member 24, and the other end of each movable rod is rotatably connected to one centering member 23, so that the movement of the centering member 23 is more stable. The first connecting rod 271 includes a first connecting rod 2711, a second connecting rod 2712 and a third connecting rod 2713. The second link 2712 is provided between the first link 2711 and the third link 2713, and one end of the first link 2711 is connected to one of the third connecting rods 273 and the other end is connected to the lower side of the second link 2712. The third link 2713 has one end connected to the other third connecting link 273 and the other end connected to the lower side of the second link 2712. The power element 26 is disposed between the first link 2711 and the third link 2713, and a power output end of the power element 26 is connected to the second link 2712.

The centering mechanism 20 further includes two flow guides 28, a limiting member 29, and a position sensing member 291.

The two flow guiding members 28 are disposed on the supporting member 21 and located at two opposite sides of the roller portion 221, and are used for guiding the flow of the sub-basket 200 conveyed by the roller portion 221.

Wherein each guide member 28 comprises a guide plate 281 arranged at one side of the support member 21 and two guide plate struts 282. The guide plate 281 guides the flow of the sub-basket 200 conveyed by the roller part 221. The two guide posts 282 have one end connected to the support 21 and the other end connected to the guide plate 281 for supporting the guide plate 281.

The limiting member 29 is disposed at an end of the supporting member 21 away from the conveying mechanism 10, and is used for limiting the sub-basket 200 moving between the two centering positioning members 23.

In this embodiment, the limiting members 29 are two limiting plates.

The position sensing member 291 is disposed on the supporting member 21 and electrically connected to the controller for sensing whether the sub-basket 200 on the moving member 22 moves to a predetermined position. Specifically, when the position sensing member 291 senses that the sub-basket 200 on the moving member 22 moves to the stopper 29, the controller controls the moving member 291 to stop working according to the sensing information of the position sensing member 291.

In this embodiment, the position sensing member 291 is a photo sensor. The position sensing member 291 is disposed on the limiting member 29.

Referring to fig. 4, the pick-and-place mechanism 30 includes a carrier 31, a pick-and-place driving member 32, a retaining member 33, and a retaining driving member 34.

The carrier 31 is substantially L-shaped plate-like. The carrier 31 is used to carry the centrally positioned sub-basket 200. The pick-and-place driving member 32 is connected to the carrier 31 for driving the carrier 31 to move toward the centering mechanism 20, so that the carrier 31 carries the centered sub-basket 200. The retainer 33 is used to retain the sub-basket 200 on the carrier 31. The retaining driving member 34 is disposed on one side of the carrier 31 and connected to the retaining member 33. The catching driving member 34 can drive the catching member 33 to move in a direction approaching the carrier 31 to catch and position the sub-basket 200 on the carrier 31.

In this embodiment, the bottom of the sub-basket 200 is provided with a reinforcing rib, and the bearing member 31 can form a strong support for the reinforcing rib at the bottom of the sub-basket 200, so as to ensure the stability of the sub-basket 200 during the movement process.

In the present embodiment, the pick-and-place driving member 32 is a robot arm. The retainer 33 is a hook. The clamping hook is of a profile anti-slip design, can form downward and inward pressure on the upper edge of the sub-basket 200, limits the possible displacement of the sub-basket 200 in multiple directions such as the axial direction, the radial direction and the like, and can realize reliable grabbing of the sub-basket 200 by matching with the bearing piece 31. The retaining drive 34 is a pneumatic cylinder.

Referring to fig. 5 and 6, in the process that the picking and placing mechanism 30 picks the sub-basket 200 and feeds the sub-basket 200 into the main basket 300, if the posture and the drop point position of the sub-basket 200 are changed due to some factors, that is, the relative position of the drop point of the sub-basket 200 and the main basket 300 is changed, in order to avoid the collision hazard between the picking and placing mechanism 30 and the main basket 300 (the main basket 300 is deformed and cannot be used, the picking and placing mechanism 30 is damaged, and other serious problems), a collision prevention mechanism 40 is provided in this embodiment. When the front of the primary basket 300 is interfered, i.e. collided, the collision force can be transmitted to the back of the primary basket 300 through the body of the primary basket 300, so that the anti-collision mechanism 40 is pushed to act, a collision signal is sent out, and the controller controls the pick-and-place mechanism 30 to stop working according to the collision signal.

The collision avoidance mechanism 40 includes a pusher 41 and a travel switch 42.

The pushing member 41 is movably provided at one side of the female basket 300. The travel switch 42 is disposed on the moving path of the pushing member 41, and the travel switch 42 is electrically connected to the controller, the travel switch 42 includes a rocker contact 421, and the rocker contact 421 can send an impact signal when being triggered.

Initially, the mother basket 300 is hung on the washing table 400; in the feeding process, the whole mother basket 300 can be rotated due to any collision on the surface of the mother basket 300, the mother basket 300 can collide with the pushing piece 41 to move, the pushing piece 41 touches the rocker contact 421 of the travel switch 42 when moving to the preset position, so that the travel switch 42 sends an impact signal to the controller, and the controller controls the pick-and-place mechanism 30 to stop working according to the impact signal.

Wherein, the anti-collision mechanism 40 further comprises a fixed seat 43, a guide rail 44, a sliding block 45 and a buffer 46.

The fixing base 43 is substantially plate-shaped and fixed below the pusher 41. The guide rail 44 is provided on the fixing base 43. The sliding block 45 is matched with the guide rail 44 and is connected with the pushing piece 41, and the pushing piece 41 can slide along the guide rail 44. The buffer 46 is disposed on the fixing seat 43 and is used for buffering the movement of the pushing member 41.

The implementation process of the embodiment is as follows: a plurality of products are arranged in the sub-basket 200, and then the conveying mechanism 10 conveys the sub-basket 200 to the moving part 22; under the flow guiding action of the two flow guiding members 28, the moving member 22 moves the sub-basket 200 to the position-limiting member 29, at this time, the sub-basket 200 is located between the two centering positioning members 23, and the controller controls the moving member 22 to stop working according to the sensing information of the position sensing member 291; then, the power member 26 drives the first connecting rod 271 to descend, so that the two second connecting rods 272 respectively drive the two connected centering positioning members 23 to approach each other, so as to perform centering positioning on the sub-basket 200; the picking and placing driving member 32 drives the carrier 31 to move towards the centering mechanism 20, so that the carrier 31 carries the sub-basket 200 after centering, and after the carrier 31 carries the sub-basket 200, the clamping driving member 34 can drive the clamping member 33 to move towards the direction close to the carrier 31, so as to clamp and position the sub-basket 200 on the carrier 31; finally, the driving carrier 31 drives the carrier 31 to move towards the mother basket 300, and the child basket 200 is placed in the mother basket 300, so that a cleaning device (not shown) performs a cleaning operation on the product in the mother basket 300. In the process that the pick-and-place mechanism 30 places the child basket 200 in the parent basket 300, if the pick-and-place mechanism 30 mistakenly hits the parent basket 300, the parent basket 300 can hit the pushing member 41 to move, and the pushing member 41 moves to a preset position to trigger the rocker contact 421 of the travel switch 42, so that the travel switch 42 sends an impact signal to the controller, and the controller can control the pick-and-place mechanism 39 to stop working according to the impact signal.

The feeding device 100 carries the product-loaded sub-basket 200 conveyed by the conveying mechanism 10 by the moving part 22 and moves the product-loaded sub-basket between the two centering parts 23 for centering, and then the picking and placing mechanism 30 picks the centered sub-basket 200 and places the centered sub-basket 200 in the main basket 300. Compared with the prior art, the feeding device 100 can automatically and accurately place the sub-basket 200 provided with the product in the main basket 300, is high in feeding speed and efficiency, and saves manpower.

The feeding device 100 of the application realizes centering correction of the sub-basket 200 on the supporting member 21 by using the link mechanism 27, ensures that the corrected sub-basket 200 is positioned at the center of the supporting member 21 in the width direction, and eliminates the influence of the difference of the outer dimensions of the sub-basket 200 on positioning; moreover, the 'surface' contact correction of the centering positioning piece 23 can eliminate the error influence caused by the local deformation of the outer shape of the sub-basket 200, so as to meet the requirement of accurate centering positioning of the sub-basket 200.

In addition, other modifications within the spirit of the invention may occur to those skilled in the art, and such modifications are, of course, included within the scope of the invention as claimed.

Claims

1. The feeding device is characterized by comprising a conveying mechanism, a centering positioning mechanism and a taking and placing mechanism, wherein the conveying mechanism is used for conveying a sub-basket provided with a product; the centering positioning mechanism is arranged on one side of the conveying mechanism and comprises a supporting piece, a moving piece and two centering positioning pieces, wherein the moving piece and the two centering positioning pieces are arranged on the supporting piece, the two centering positioning pieces can be arranged above the moving piece in a relatively movable manner, and the moving piece is used for bearing the sub-basket conveyed by the conveying mechanism and moving the sub-basket to a position between the two centering positioning pieces; the two centering positioning pieces are used for centering and positioning the sub-basket; the taking and placing mechanism is arranged on one side of the centering and positioning mechanism and used for moving the centrally positioned auxiliary basket and placing the auxiliary basket in the main basket.

2. The loading device according to claim 1, characterized in that: the moving part comprises a plurality of roller parts which are rotatably arranged on the supporting part, a transmission part connected with the plurality of roller parts and a driving part arranged on the supporting part, and the driving part is connected with the transmission part; the driving part can drive the transmission part to drive the plurality of roller parts to rotate so as to drive the sub-basket to move to two between the centering positioning pieces.

3. The loading device according to claim 2, characterized in that: the centering positioning mechanism further comprises two flow guide pieces arranged on the support piece, wherein the flow guide pieces are positioned on two opposite sides of the roller part and used for guiding the sub-baskets conveyed by the roller part.

4. The loading device according to claim 1, characterized in that: the centering positioning mechanism further comprises a limiting part, wherein the limiting part is arranged at one end, far away from the conveying mechanism, of the supporting part and used for limiting the sub-baskets moving to two positions between the centering positioning parts.

5. The loading device according to claim 1, characterized in that: the centering positioning mechanism further comprises a power part and a connecting rod mechanism which are arranged on the supporting part, the connecting rod mechanism is respectively connected with the two centering positioning parts and the power part, the power part can drive the connecting rod mechanism to drive the two centering positioning parts to be close to each other so as to move to two baskets between the centering positioning parts to perform centering positioning.

6. The loading device according to claim 5, characterized in that: the centering positioning mechanism also comprises a connecting piece and two fixing pieces arranged on two opposite sides of the supporting piece, the connecting piece is connected with the two fixing pieces, and the power piece is arranged on the connecting piece; the connecting rod mechanism comprises a first connecting rod, two second connecting rods and two third connecting rods, and the first connecting rod is arranged above the connecting piece and is connected with the power output end of the power piece; one end of each second connecting rod is rotatably connected with the fixing piece, and the other end of each second connecting rod is connected with one centered positioning piece; two ends of each third connecting rod are respectively and movably connected with the first connecting rod and the second connecting rod; the power part can drive the first connecting rods to ascend or descend so that the two second connecting rods respectively drive the two middle positioning parts which are connected to each other to be far away from or close to each other.

7. The loading device according to claim 1, characterized in that: the centering positioning part further comprises a position sensing part, and the position sensing part is arranged on the supporting part and used for sensing whether the sub-basket on the moving part moves to a preset position or not.

8. The loading device according to claim 1, characterized in that: the picking and placing mechanism further comprises a bearing piece and a picking and placing driving piece, and the bearing piece is used for bearing the centrally positioned sub-basket; the taking and placing driving piece is connected with the bearing piece and used for driving the bearing piece to bear the centrally positioned sub-basket.

9. The loading device according to claim 8, characterized in that: the picking and placing mechanism further comprises a clamping piece and a clamping driving piece arranged on one side of the bearing piece, and the clamping piece is used for clamping the sub-basket on the bearing piece; the clamping driving piece is connected with the clamping piece and can drive the clamping piece to move towards the direction close to the bearing piece so as to clamp the sub-basket on the bearing piece.

10. The loading device according to claim 1, characterized in that: the feeding device further comprises an anti-collision mechanism, the anti-collision mechanism comprises a pushing piece and a travel switch, and the pushing piece is movably arranged on one side of the female basket; the travel switch is arranged on a moving path of the pushing block; the pushing piece can trigger the travel switch when moving to a preset position under the collision of the female basket, so that the travel switch sends an impact signal.