CN114955539A

CN114955539A - Feeding mechanism

Info

Publication number: CN114955539A
Application number: CN202210649079.5A
Authority: CN
Inventors: 王加伟
Original assignee: Bozhon Precision Industry Technology Co Ltd
Current assignee: Bozhon Precision Industry Technology Co Ltd
Priority date: 2022-06-09
Filing date: 2022-06-09
Publication date: 2022-08-30

Abstract

The invention belongs to the technical field of material conveying, and discloses a feeding mechanism, which comprises: frame, installation axle, clamping piece, transmission shaft, drive assembly and linkage assembly. The mounting shaft is rotationally connected to the frame; the clamping piece is arranged on the mounting shaft and used for clamping a workpiece. The transmission shaft is rotationally connected to the rack; the driving assembly is arranged on the frame and connected with the transmission shaft to drive the transmission shaft to rotate. The linkage assembly is connected with the transmission shaft and the installation shaft respectively, so that the installation shaft is overturned along with the rotation of the transmission shaft. With this through setting up a feeding mechanism can feed two equipment modules that parallel, effectively reduced whole manufacturing cost, can also reduce the shared space of feedway simultaneously to in the utilization ratio in improvement space.

Description

Feeding mechanism

Technical Field

The invention relates to the technical field of material conveying, in particular to a feeding mechanism.

Background

In the production process of products, a plurality of assembling processes are generally included, and each assembling process assembles different workpieces into a whole. When the workpieces are assembled, the workpieces need to be clamped and transferred to place the workpieces at the assembly position, and a special feeding mechanism is needed.

In the prior art, the feeding mechanism includes a frame, a manipulator disposed on the frame, and a motor for driving the manipulator to move. When feeding the work piece, just utilize the manipulator to come the clamp to get the work piece, recycle the motor and drive the manipulator and remove to drive the work piece and remove, with work piece propelling movement to equipment position department, with the feed of accomplishing the work piece.

The driving part of the feeding mechanism can only clamp and move the workpiece in a single direction, and when two or more assembly modules exist, the feeding mechanism needs to be correspondingly arranged on each assembly module, so that the cost of the whole production line is greatly increased.

Disclosure of Invention

The invention aims to provide a feeding mechanism, which solves the problem that the whole production cost is higher because a feeding mechanism needs to be independently arranged when a plurality of assembly modules are fed in the prior art.

In order to achieve the purpose, the invention adopts the following technical scheme:

a feed mechanism, comprising: frame, installation axle, clamping piece, transmission shaft, drive assembly and linkage assembly. The mounting shaft is rotationally connected to the frame; the clamping piece is arranged on the mounting shaft and used for clamping a workpiece. The transmission shaft is rotationally connected to the rack; the driving assembly is arranged on the rack and connected with the transmission shaft to drive the transmission shaft to rotate. The linkage assembly is respectively connected with the transmission shaft and the mounting shaft, so that the mounting shaft is overturned along with the rotation of the transmission shaft.

Optionally, the driving assembly includes: a first connecting rod fixed on the transmission shaft; a second connecting rod which is rotatably connected to the first connecting rod; and the driving piece is rotatably connected to the rack and is connected with the second connecting rod.

Through above-mentioned technical scheme, when the drive transmission shaft rotates, just start the driving piece, the driving piece drives first connecting rod and rotates, and first connecting rod promotes the second connecting rod and rotates, and the second connecting rod will drive the transmission shaft and rotate to this transmission through two connecting rods can realize driving the installation axle upset with less radius of gyration, with the shared space of effective reduction.

Optionally, the driving member is an air cylinder, and a piston rod of the air cylinder is hinged to the second connecting rod.

Through above-mentioned technical scheme, after starting the driving piece, the piston rod of cylinder will stretch out to promote the second connecting rod and remove, rotate with driving first connecting rod smoothly, when drive second connecting rod rotates, the cylinder can be at less within range internal rotation, thereby further reduce holistic radius of gyration.

Optionally, the linkage assembly comprises: the driving wheel is fixed on the transmission shaft; the driven wheel is fixed on the mounting shaft; and the linkage belt is sleeved on the driving wheel and the driven wheel.

Through above-mentioned technical scheme, when the transmission shaft rotated, can drive the action wheel and rotate, thereby the action wheel drives from the driving wheel rotation through the linkage belt, will drive the installation axle rotation from the driving wheel, just also drives smoothly and presss from both sides a upset.

Optionally, the diameter of the driving wheel is larger than that of the driven wheel.

Through above-mentioned technical scheme, when the drive installation axle rotated, the angle that the action wheel rotated can be less than the angle of rotating from the driving wheel, for example the action wheel only need change 90 degrees, can change 180 degrees from the driving wheel to the upset of installation axle can be realized to this transmission shaft rotation less range.

Optionally, the driving wheel and the driven wheel are both synchronous wheels.

Through above-mentioned technical scheme, the frictional force between synchronizing wheel and the linkage belt is great, ensures that the action wheel is rotatory simultaneously with from between the driving wheel.

Optionally, the feeding mechanism further comprises: the positioning plate is arranged on the mounting shaft; the positioning sensor is arranged on the rack, and the positioning plate shields the signal of the positioning sensor; and the controller is in communication connection with the positioning sensor and the driving assembly respectively so as to start or stop the driving assembly according to the position of the positioning plate.

Through above-mentioned technical scheme, utilize the locating plate whether to shelter from positioning sensor's signal, confirm the position that the locating plate is located to confirm the position that the installation axle is located, the controller just can automatic start drive assembly drive the installation axle and rotate, with this automatic completion to the feed of work piece, improve holistic degree of automation.

Optionally, the feeding mechanism further comprises: a mounting plate fixed on the mounting shaft; wherein, a plurality of above-mentioned clamping pieces of interval distribution on the above-mentioned mounting panel.

Through above-mentioned technical scheme, when carrying out the feed of work piece, get a plurality of work pieces of a clamp double-layered simultaneously through a plurality of clamps to improve the feed speed to the work piece, be favorable to improving holistic production efficiency.

Optionally, the feeding mechanism further comprises: and the protective cover is arranged on the rack and covers the joint of the mounting shaft and the rack and the joint of the transmission shaft and the rack.

Through above-mentioned technical scheme, the protection casing covers the terminal surface that can shelter from installation axle and transmission shaft to it gets into between installation axle and frame and transmission shaft and the frame to reduce impurity granule etc..

Optionally, the gripping member is a gripping cylinder.

Through the technical scheme, when the workpiece is clamped, the clamping jaw is clamped by the clamping cylinder, so that the complexity of the whole structure can be effectively reduced, the production difficulty can be reduced, and the production cost can be reduced.

The invention has the beneficial effects that:

when the workpiece is fed and assembled, the workpiece on one side of the rack is clamped by the clamping piece, the workpiece is supplied to the assembly module on the side for assembly, the driving assembly is used for driving the transmission shaft to rotate, the transmission shaft drives the installation shaft to rotate through the linkage assembly, the installation shaft drives the clamping piece to rotate, the clamping piece faces to the other side of the rack, and the workpiece on the other side of the rack is clamped by the clamping piece and supplied to the assembly module on the side. With this through setting up a feeding mechanism can carry out the feed to two equipment modules that parallel, effectively reduced whole manufacturing cost, can also reduce the shared space of feeding mechanism simultaneously to in the utilization ratio of improvement space.

Drawings

FIG. 1 is a first isometric view of a feed mechanism according to some embodiments of the invention.

FIG. 2 is a second isometric view of a feed mechanism according to some embodiments of the invention.

Fig. 3 shows an enlarged view of a portion a in the implementation shown in fig. 1.

In the figure:

100. a frame; 101. a support bar; 110. a protective cover; 120. a mounting seat; 130. a hinged seat; 200. installing a shaft; 300. clamping and taking the workpiece; 400. a drive shaft; 500. a drive assembly; 510. a first link; 520. a second link; 530. a drive member; 531. an ear mount; 600. a linkage assembly; 610. a driving wheel; 620. a driven wheel; 630. a linkage belt; 700. positioning a plate; 800. a positioning sensor; 900. and (7) mounting the plate.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "right", etc. are used in an orientation or positional relationship based on that shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.

The production line of the product often includes a plurality of assembling processes, and each assembling process sets up a corresponding assembling module to assemble the workpiece, so as to complete the processing production of the product. In order to improve the overall production efficiency, two assembling modules can be arranged in parallel so as to assemble two or even more groups of workpieces simultaneously. When the workpieces are assembled, the workpieces need to be taken down from the production line, and the workpieces are transferred into the corresponding assembly modules by using a feeding mechanism such as a manipulator and the like so as to carry out assembly operation.

In the prior art, the feeding mechanism comprises a frame, the frame is arranged at the corresponding assembly module accessory, a manipulator is arranged on the frame and used for clamping workpieces on a production line, and a corresponding motor can be arranged on the frame to drive the manipulator to move so as to transfer the clamped workpieces to the corresponding assembly module. The feeding mechanism can only feed for the corresponding assembly modules, and the parallel assembly modules need two feeding mechanisms to feed, so that the overall production cost is increased. And motor drive manipulator removes, also needs comparatively complicated drive mechanism, comes to supply for equipment module side by side through motor drive manipulator gyration, then needs to reserve very big radius of gyration and can realize, and shared space is great, is unfavorable for the rational utilization to the space.

The feeding mechanism provided by the invention can be arranged between two parallel assembly modules, the clamping of the workpiece is carried out on one side of the rack through the clamping piece, the workpiece is transferred to the corresponding assembly module, the clamping piece is driven to turn over by using the driving mechanism formed by the air cylinder connecting rod, the clamping piece is enabled to turn to the other side, and the clamping and transferring of the workpiece are carried out on the other assembly module, so that the feeding of the assembly modules on two sides is realized through one feeding mechanism. And when the driving mechanism formed by the cylinder connecting rod drives the clamping piece to turn over, the required turning radius is smaller, the whole occupied space is smaller, the structural complexity is lower, and the production and the processing are convenient. The feeding mechanism can feed two assembly modules respectively, improves the production efficiency, and can reduce the overall production cost and the manufacturing difficulty so as to be applied to the production of various products.

FIG. 1 is a first isometric view of a feed mechanism according to some embodiments of the invention. Referring to fig. 1, the feeding mechanism includes: frame 100, installation axle 200, gripper 300, transmission shaft 400, drive assembly 500 and linkage assembly 600. The racks 100 are secured to the respective equipment and are positioned between the side-by-side assembly modules. The mounting shaft 200 is rotatably connected to the frame 100, and the gripping member 300 is fixedly disposed on the mounting shaft 200 for gripping a workpiece. The transmission shaft 400 is rotatably connected to the frame 100, and the driving assembly 500 is disposed on the frame 100 and connected to the transmission shaft 400 for driving the transmission shaft 400 to rotate. The linkage assembly 600 is disposed on the frame 100, and the linkage assembly 600 is connected to the transmission shaft 400 and the installation shaft 200, respectively, so that the installation shaft 200 can be turned over along with the rotation of the transmission shaft 400.

Specifically, the whole rack 100 may be U-shaped, the bottom wall of the rack is used for fixedly connecting to adjacent equipment, two support rods 101 may be disposed between two opposite side walls to improve the bearing capacity of the whole rack 100, two support rods 101 may be disposed, one or more than two support rods 101 may be disposed on each of the front and rear sides of the rack 100, and the number of the support rods 101 is not specifically limited in the present invention. The mounting shaft 200 is located at the top opening of the rack 100, and two side walls of the rack 100 are respectively provided with a bearing to be connected with two ends of the mounting shaft 200, so that the mounting shaft 200 can be rotatably connected. It should be understood that the frame 100 may have other shapes as long as it meets the installation requirements, and the shape of the frame 100 is not specifically limited in the present invention.

The side of the frame 100 is provided with a protective cover 110, and the protective cover 110 covers the bearing to prevent particles such as impurities from entering the bearing to damage the bearing. The clamping member 300 is fixed on the mounting shaft 200, the fixing mode may be bolt connection, or may be clamping fixing through a clamping structure, and the fixing mode of the clamping member 300 is not specifically limited in the present invention. The drive shaft 400 may be disposed below the mounting shaft 200, or it may be rotatably coupled by providing a bearing on the housing 100, which is also located within the shield 110. The driving assembly 500 is disposed on an outer sidewall of the housing 100, and one end of the driving shaft 400 protrudes out of the housing 100 to be connected with the driving assembly 500. The driving assembly 500 and the linkage assembly 600 may be respectively disposed at the left and right sides of the frame 100, wherein the driving assembly 500 may be implemented by a driving mechanism such as a sprocket or a pulley, or may be implemented by a structure such as a cylinder link, and may be specifically designed according to an actual installation space, and the present invention is not particularly limited.

When feeding, the clamping member 300 is used to clamp the workpiece on one side of the rack 100 and supply the workpiece to the corresponding assembly module on the side, and then the driving assembly 500 is started to drive the transmission shaft 400 to rotate, the mounting shaft 200 is driven to turn over through the linkage assembly 600, so that the clamping member 300 is turned over to the other side, and the clamping member 300 clamps the workpiece on the other side and supplies the workpiece to the corresponding assembly module. The workpiece can be clamped at one side by the clamping member 300 and then turned to the other side to supply the corresponding assembly module. The workpiece can be supplied for the parallel assembly modules by arranging one feeding mechanism, so that the number of the feeding mechanisms can be effectively reduced, and the production cost of the whole production line is reduced.

FIG. 2 is a second isometric view of a feed mechanism according to some embodiments of the invention. Referring to fig. 2, in some embodiments of the present invention, the driving assembly 500 includes a first link 510, a second link 520, and a driver 530. The first link 510 is fixed to the transmission shaft 400, one end of the second link 520 is rotatably connected to the first link 510, and the other end of the second link 520 is connected to the driving member 530. The driving member 530 is an air cylinder, a cylinder body of the air cylinder is hinged on the rack 100, and a piston rod of the air cylinder is fixedly connected with the second connecting rod 520.

Specifically, a mounting seat 120 can be fixed on the frame 100, a hinged seat 130 can be connected to a side surface of the mounting seat 120 through a bolt, the hinged seat 130 includes a bottom plate and a support plate, the bottom plate is fixedly connected to the mounting seat 120, the support plate is rotatably connected to a rotating shaft, a pair of lug seats 531 is arranged on a bottom wall of the cylinder body of the cylinder, and two ends of the rotating shaft are respectively connected to the two lug seats 531. The piston rod of the cylinder extends towards one side close to the transmission shaft 400, an insertion rod can be arranged on the end wall of the piston rod, an insertion hole for the insertion rod to insert is formed in the end face of the second connecting rod 520, the insertion rod and the insertion hole can be in interference fit, can also be in threaded connection, and can also be clamped and fixed in a clamping block and clamping groove mode to achieve fixed connection of the second connecting rod 520 and the piston rod of the cylinder, and the specific connection mode can be designed according to practical application scenes without limitation.

One side of the second link 520 near the piston rod may be cylindrical to facilitate connection with the piston rod, and the other side may be thin plate to facilitate reduction of thickness thereof. A connecting rod is arranged on the thin plate in a penetrating way, and the connecting rod penetrates through the first connecting rod 510 and is rotatably connected with the first connecting rod 510 so as to realize the rotary connection of the first connecting rod 510 and the second connecting rod 520. The end of the first link 510 away from the second link 520 is fixedly connected to the end of the transmission shaft 400 extending out of the frame 100.

When the transmission shaft 400 is driven to rotate, the air cylinder is connected to an air source, a piston rod of the air cylinder extends out to push the second connecting rod 520 to move, a cylinder body of the air cylinder also swings along with the movement of the second connecting rod 520, the second connecting rod 520 pushes the first connecting rod 510 to rotate when moving, and the first connecting rod 510 simultaneously drives the transmission shaft 400 to rotate so as to smoothly drive the transmission shaft 400 to rotate.

Referring to FIG. 1, in some embodiments of the present invention, linkage assembly 600 includes: a driving pulley 610, a driven pulley 620, and a linkage belt 630. Drive wheel 610 is coaxially fixed on transmission shaft 400, driven wheel 620 is coaxially fixed on mounting shaft 200, and linkage belt 630 is sleeved on drive wheel 610 and driven wheel 620. The diameter of the driving wheel 610 is larger than that of the driven wheel 620, and both the driving wheel 610 and the driven wheel 620 are synchronous wheels.

Specifically, the end of the transmission shaft 400 far from the first link 510 passes through the side wall of the frame 100, the driving wheel 610 is fixed at the end of the transmission shaft 400, the driven wheel 620 is fixed at the corresponding end of the mounting shaft 200, and the driven wheel 620 is located right above the driving wheel 610. The diameter of the driving wheel 610 may be twice the diameter of the driven wheel 620, that is, the diameter ratio of the driving wheel 610 to the driven wheel 620 is 2, so that when the driving wheel 610 rotates 90 degrees, the driven wheel 620 rotates 180 degrees. It should be understood that the diameter ratio of the driving wheel 610 to the driven wheel 620 may not be 2, and the specific value may be determined according to the required turning angle of the mounting shaft 200 and the maximum stroke of the air cylinder, and the present invention is not limited thereto.

When the transmission shaft 400 rotates, the driving wheel 610 is driven to rotate synchronously, the driving wheel 610 drives the driven wheel 620 to rotate through the linkage belt 630, and the driven wheel 620 drives the mounting shaft 200 to rotate. The synchronizing wheel can ensure sufficient friction between the linkage belt 630 and the driving wheel 610 and the driven wheel 620, and reduce the possibility of slipping of the linkage belt 630. And the diameter of the driving wheel 610 is larger, so that the driving wheel 610 rotates ninety degrees, the driven wheel 620 rotates 180 degrees, and the transmission shaft 400 can realize the overturning of the mounting shaft 200 only by rotating by a smaller amplitude, so that the stroke of the cylinder can be greatly reduced, and the integral turning radius can be reduced.

Fig. 3 shows an enlarged view of a portion a in the implementation shown in fig. 1. Referring to fig. 3, in some embodiments of the present invention, the feeding mechanism further includes a positioning plate 700, a positioning sensor 800, and a controller. The positioning plate 700 is disposed on the mounting shaft 200, the positioning sensor 800 is disposed on the rack 100, and the positioning plate 700 is used to fold the signal of the positioning sensor 800. The controller is communicatively coupled to the positioning sensor 800 and the drive assembly 500, respectively, to activate or deactivate the drive assembly 500 based on the position of the positioning plate 700.

Specifically, the cross section of the positioning plate 700 may be L-shaped, one side of which is fixedly connected to the mounting shaft 200, and the other side of which is used for shielding the signal of the positioning sensor 800. The two positioning sensors 800 are provided, the mounting shaft 200 is located between the two positioning sensors 800, and a signal interval for partially inserting the positioning plate 700 exists in the middle of the positioning sensors 800. The relative positions of the two positioning sensors 800 can be designed according to the angle of the installation shaft 200 to be turned, in the embodiment of the present invention, the two positioning sensors 800 are located in the same horizontal plane, while in other embodiments, the two positioning sensors 800 can be arranged at an included angle of 90 degrees. The controller may adopt a PLC module, etc., and when the positioning plate 700 is placed in a signal interval of one of the positioning sensors 800, the controller may determine the current position of the positioning plate 700, and thus determine the position of the mounting shaft 200.

Through the position of positioning sensor 800 real-time detection locating plate 700, in order to confirm the position of installation axle 200, the controller just can start according to the position control drive assembly 500 of installation axle 200, rotate in order to drive installation axle 200, can drive locating plate 700 synchronous rotation when installation axle 200 rotates, locating plate 700 is when leaving the signal interval, the controller can acquire locating plate 700's moving speed and direction again, thereby confirm the slew velocity and the turning to of installation axle 200, with this rotation and the stop that can automatic control installation axle 200, improve holistic degree of automation.

Referring to fig. 1 and 3, in some embodiments of the present invention, the feed mechanism further includes a mounting plate 900. The mounting plate 900 is fixed on the mounting shaft 200, and a plurality of gripping members 300 are distributed on the mounting plate 900 at intervals.

Specifically, the upper and lower sides of the mounting shaft 200 are both planes, and the top surface of the mounting plate 900 is attached to the planes and fixedly connected with the planes through bolts. One side of the mounting plate 900 extends out of the frame 100, the clamp 300 can be fixed to the bottom wall of the mounting plate 900 by bolts, and the clamping portion of the clamp 300 extends out of the mounting plate 900 so as to clamp the workpiece. The mounting plate 900 may also be provided with corresponding notches to reduce the weight of the mounting plate 900 itself. The positioning plate 700 may be secured to the mounting plate 900 to determine the position of the mounting shaft 200 by sensing the position of the mounting plate 900.

Through setting up mounting panel 900, can fix a plurality of clamps on installation axle 200 to a plurality of work pieces in order to feed are got to once clamp, thereby improve holistic packaging efficiency, are favorable to improving holistic production efficiency.

It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Numerous obvious variations, adaptations and substitutions will occur to those skilled in the art without departing from the scope of the invention. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A feed mechanism, comprising:

a frame (100);

the mounting shaft (200) is rotatably connected to the rack (100);

the clamping piece (300) is arranged on the mounting shaft (200) and used for clamping a workpiece;

the transmission shaft (400) is rotatably connected to the rack (100);

the driving assembly (500) is arranged on the frame (100) and is connected with the transmission shaft (400) so as to drive the transmission shaft (400) to rotate; and

and a linkage assembly (600) respectively connected with the transmission shaft (400) and the mounting shaft (200) so that the mounting shaft (200) is turned over along with the rotation of the transmission shaft (400).

2. The feed mechanism of claim 1, wherein the drive assembly (500) comprises:

a first link (510) fixed to the transmission shaft (400);

a second link (520) rotatably connected to the first link (510); and

and the driving piece (530) is rotatably connected to the rack (100) and is connected with the second connecting rod (520).

3. The feeding mechanism according to claim 2, characterized in that the driving member (530) is a cylinder, the piston rod of which is articulated to the second connecting rod (520).

4. The feed mechanism of claim 1, wherein the linkage assembly (600) comprises:

a driving wheel (610) fixed on the transmission shaft (400);

a driven wheel (620) fixed on the mounting shaft (200); and

and the linkage belt (630) is sleeved on the driving wheel (610) and the driven wheel (620).

5. The feeding mechanism as recited in claim 4, characterized in that the diameter of the driving wheel (610) is larger than the diameter of the driven wheel (620).

6. The feeding mechanism as recited in claim 4, characterized in that the driving wheel (610) and the driven wheel (620) are synchronous wheels.

7. The feed mechanism of any one of claims 1 to 6, further comprising:

a positioning plate (700) disposed on the mounting shaft (200);

the positioning sensor (800) is arranged on the rack (100), and the positioning plate (700) shields a signal of the positioning sensor (800); and

a controller communicatively coupled to the positioning sensor (800) and the drive assembly (500), respectively, to activate or deactivate the drive assembly (500) based on the position of the positioning plate (700).

8. The feed mechanism of any one of claims 1 to 6, further comprising:

a mounting plate (900) fixed to the mounting shaft (200);

wherein a plurality of the clamping pieces (300) are distributed on the mounting plate (900) at intervals.

9. The feed mechanism of any one of claims 1 to 6, further comprising:

and the protective cover (110) is arranged on the rack (100) and covers the joint of the mounting shaft (200) and the rack (100) and the joint of the transmission shaft (400) and the rack (100).

10. The feeding mechanism according to any of claims 1 to 6, characterized in that the gripping member (300) is a gripping cylinder.