CN115196316A

CN115196316A - Force control clamping jaw capable of detecting material thickness and feeding device

Info

Publication number: CN115196316A
Application number: CN202210837354.6A
Authority: CN
Inventors: 李游; 华鑫; 季敏军; 肖炜; 陆雪琦; 华涛
Original assignee: Suzhou Paixun Intelligent Technology Co ltd
Current assignee: Suzhou Paixun Intelligent Technology Co ltd
Priority date: 2022-07-15
Filing date: 2022-07-15
Publication date: 2022-10-18

Abstract

The patent discloses a force control clamping jaw capable of detecting material thickness and a feeding device, wherein the feeding device comprises a feeding part, a detection part and a force control clamping jaw; the material of treating the storage can be placed to material loading portion, material to the detection portion of material loading portion can be got to the clamp of power control clamping jaw, the power control clamping jaw includes first part, the second part, first clamping jaw motor, first tong and second tong, second part slidable mounting is on first part, be provided with a plurality of third sensors on it, different third sensors can detect the different displacement distance of second part, first tong motor installed on the second part can drive first tong and the second tong installed on it and open or draw close, material information on the material can be detected to the detection portion. The force-control clamping jaw has the advantages of simple structure, low manufacturing cost, capability of detecting the thickness, particular convenience in use, capability of detecting the thickness and the size of a material by the feeding device, convenience in subsequent flexible processing operation and contribution to effective, reasonable and maximized utilization of intelligent storage.

Description

Force control clamping jaw capable of detecting material thickness and feeding device

Technical Field

The invention relates to the field of clamping jaws, in particular to a force-control clamping jaw capable of detecting material thickness and a feeding device.

Background

Clamping jaw or manipulator in current intelligent storage generally only have clamping function, be responsible for promptly to get the material from a local clamp to another place, less have the detection function to the judgement of material, the detection to the judgement of material, for example, the thickness and the size that detect the material generally need be with the help of the device platform, generally can set up on the loading attachment of transfer, thereby loading attachment design becomes complicated, and is bulky, occupation space is more, increase cost, use cost, it is not high to synthesize the price/performance ratio, be difficult to accept the approval by the customer.

Therefore, in combination with the above-mentioned technical problems, there is a need to provide a new technical solution.

Disclosure of Invention

In order to solve the technical problems in the prior art, the invention aims to provide a force control clamping jaw and a feeding device capable of detecting the thickness of a material, the force control clamping jaw is simple in structure, the manufacturing cost and the use cost are reduced, the thickness can be detected, the use is particularly convenient, the feeding device is provided with a third sensor and a fourth sensor, the thickness and the size of the material can be detected simultaneously, the structure is simple and convenient to set, the subsequent flexible processing operation is facilitated, a storage bin with the optimal size can be matched and selected when the material is stored in the storage rack, the effective and reasonable utilization of the storage rack is facilitated, and the utilization rate is maximized. The specific technical scheme is as follows:

according to one aspect of the invention, a force control clamping jaw capable of detecting the thickness of a material is provided, and comprises a first part, a second part, a first clamping jaw motor, a first clamping hand and a second clamping hand;

the second component is arranged on the first component in a sliding mode, the second component can slide along the first component, a plurality of third sensors are arranged on the first component or the second component along the moving direction of the second component, and different third sensors can detect different moving distances of the second component;

first clamping jaw motor fixed mounting is on the second part, first tong and second tong are installed on first clamping jaw motor, first tong motor can make first tong and/or second tong move towards the direction of keeping away from or being close to each other.

The first component is slidably mounted on the slide rod, the first component can move along the slide rod, and the moving direction of the first component is perpendicular to the moving direction of the second component.

Furthermore, a plurality of third sensors are arranged on the first component, the arrangement direction of the plurality of third sensors is consistent with the moving direction of the second component, a third induction sheet is arranged on the second component, and the third sensors correspond to the third induction sheet; or

The second component is provided with a plurality of third sensors, the arrangement direction of the third sensors is consistent with the moving direction of the second component, the first component is provided with a third induction sheet, and the third sensors correspond to the third induction sheet.

According to another aspect of the invention, a feeding device is also provided, which comprises a feeding part, a detection part and the force control clamping jaw according to the scheme;

the utility model discloses a material storage device, including material loading portion, power control clamping jaw, detection portion, blowing platform, detection camera, material unloading platform, material loading portion can place the material of treating the storage, be provided with in the material loading portion and get material level and lift drive structure, the material of material loading portion can be transferred to getting the material level through lift drive structure, the power control clamping jaw can press from both sides the material of getting the material level to detection portion, detection portion includes blowing platform and detection camera, detection camera sets up in blowing bench side, detection camera can detect the material information on the material.

Furthermore, at least one perforation is formed in the discharging table, at least one fourth sensor is arranged at the position, corresponding to the perforation, of the bottom of the discharging table, the distance between the fourth sensor and the center of the discharging table is matched with the size of the material, and the fourth sensor is configured to detect the size of the material.

Further, the feeding part comprises a feeding base, a screw rod, a lifting plate, a lifting driving structure and a feeding trolley, the lifting plate can move upwards or downwards along the screw rod under the driving of the lifting driving structure, and the feeding base is provided with a trolley groove;

the feeding trolley is provided with a material rod, a tray and a trolley frame, the material rod is fixedly arranged on the trolley frame, the tray and the material can move to penetrate through the material rod in a sleeved mode, the tray is arranged below the material, a gap is formed between the tray and the trolley frame, the bottom of the feeding trolley is contained in a trolley groove, and the lifting plate is contained in the gap.

Furthermore, the bottom of the tray is provided with at least one limiting groove, the lifting plate is provided with at least one limiting column, and the limiting column corresponds to the limiting groove;

when the lifting plate pushes the materials on the tray upwards, the limiting posts are accommodated in the limiting grooves.

Further, material loading portion still includes upper plate and at least one bracing piece, and the one end of bracing piece is fixed to be set up on the base, fixedly on the other end of bracing piece being provided with the upper plate, is provided with the fifth sensor on the upper plate, and the material of getting the material level can be detected to the fifth sensor.

Furthermore, an electromagnet is further arranged on the feeding trolley or the feeding base, and the feeding trolley is fixed on the feeding portion through the electromagnet.

Compared with the prior art, the technical scheme of this patent has one or more following beneficial effect at least:

the force control clamping jaw has a simple structure, can reduce the manufacturing cost, can detect the thickness, is convenient to use and is particularly suitable for application in intelligent storage.

The feeding device is provided with the third sensor and the fourth sensor, the thickness and the size of materials can be detected, follow-up flexible processing operation is facilitated, the storage bin lattices with different sizes can be arranged on the material frame, the storage capacity of the storage material frame is enlarged as far as possible, the storage bin lattices with the optimal sizes can be matched and selected when the materials are stored in the storage material frame, the effective and reasonable utilization of the storage material frame is facilitated, and the utilization rate is maximized. The thickness of judging the material is detected through the distance that responds to the second part lapse, sets up the third sensor of a plurality of different positions, can detect the material of multiple different thickness. Different positions of the discharging table are provided with the through holes and the fourth sensor, so that the size of the material can be detected. Set up a plurality of fourth sensors on the circumference along blowing platform center equidistance, not only provide multiple guarantee, can also judge whether the material correctly places, if place the slope probably can make the material of at least one fourth sensor response of corresponding distance department. If the fourth sensors at different intervals from the center of the discharging table sense the materials, the detection data of the fourth sensor at the maximum interval is the size of the materials.

Set up spacing post and spacing groove for can't shift out during the pay-off dolly material loading, play spacing fool-proofing effect, avoid the operation personnel maloperation and damage material or equipment, cause the unnecessary loss.

The electromagnet is arranged, so that the feeding trolley is prevented from shaking or falling out from the feeding part at the feeding part, and the fixing and safety effects are achieved.

The anti-collision pad is arranged to protect the feeding trolley from being damaged by collision, so that the durability of the feeding trolley and the feeding part is improved, and the service life of the feeding trolley is prolonged.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

In order to more clearly illustrate the technical solution of the present invention, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

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

FIG. 2 is an enlarged view of the M-section of FIG. 1;

FIG. 3 is a perspective view of a force-controlled jaw according to the present disclosure;

FIG. 4 is a partially enlarged view of the K-portion of FIG. 3;

fig. 5 is a perspective view of the loading part according to the embodiment;

fig. 6 is a schematic perspective view of another perspective view of the feeding portion in the present embodiment;

fig. 7 is an exploded view of the charging part according to the present embodiment;

fig. 8 is a schematic perspective view of the detecting unit and the material fault placing unit described in this patent.

41-feeding part, 42-force control clamping jaw, 43-detecting part, 44-staggered material placing part, 2-feeding trolley, 411-feeding base, 4111-magnet, 4112-anti-collision pad, 412-screw rod, 413-lifting plate, 414-lifting driving structure, 415-upper plate, 416-supporting rod, 417-trolley groove, 418-limit column, 419-fifth sensor, 421-sliding rod, 422-first part, 423-second part, 424-first clamping jaw motor, 425-first clamping hand, 426-second clamping hand, 427-third sensor, 428-third sensing piece, 431-discharging platform, 432-detecting camera, 433-perforation, 434-fourth sensor, 21-feeding rod, 22-tray, 221-limit groove, 23-trolley frame, 231-trolley sliding rail, 232-electromagnet and 24-gap.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative and intended to explain the present invention and should not be construed as limiting the present invention. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.

In the description of the present invention, it should be understood that the terms "upper", "lower", "top", "bottom", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the present invention. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, unless otherwise explicitly specified or limited, the terms "disposed," "provided," "connected," "mounted," "sleeved," "opened," "fixed," and the like are to be construed broadly, e.g., as fixed or detachable connections or integral parts; 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 according to specific situations by those of ordinary skill in the art.

Examples

Referring to fig. 1 to 8, as shown in fig. 1 to 8, in the feeding device provided in this embodiment, as shown in fig. 1, the feeding device is generally disposed at a feeding end of an intelligent storage bin, and is used as a feeding transfer device for storing materials into the storage bin. The feeding device comprises a feeding part 41, a force control clamping jaw 42, a detection part 43, a staggered material placing part 44 and a control system, wherein the control system is configured to control the actions of the feeding part 41, the force control clamping jaw 42 and the detection part 43. The material of treating the storage can be placed to material loading portion 41, be provided with on the material loading portion 41 and get material level and lift drive structure 414, the material on the material loading portion 41 can be transferred to getting the material level through lift drive structure 414, force control clamping jaw 42 can press from both sides the material of getting the material level to detection portion 43, detection portion 43 includes blowing platform 431 and detection camera 432, detection camera 432 sets up in blowing platform 431 top, detection camera 432 can detect the material information on the material, wrong material portion 44 can place the material of material information mistake or no material information. If the material information is not detected or the material information is wrong, the material is determined to be a defective product, and the material determined to be a defective product is placed in the wrong material placing part 44. The material staggering placement part 44 is arranged below the material placing table. In an example, the detection camera 432 is a CCD camera, and the material error placing part 44 is an antistatic material error circulation box. In the illustrated example, there are one detecting portion 43, two loading portions 41, the loading portions are symmetrically disposed on two sides of the detecting portion 43, there is one force-controlled clamping jaw 42, and the force-controlled clamping jaws 42 are disposed above the loading portions 41 and the detecting portion 43, however, there may be two force-controlled clamping jaws 42, and each loading portion corresponds to one force-controlled clamping jaw 42.

As shown in fig. 2-4, the force-controlled jaw 42 includes a slide bar 421, a first member 422, a second member 423, a first jaw motor 424, a first gripper 425, and a second gripper 426; the sliding bar 421 is generally fixed to a fixing frame or a fixed object, and in the example, the sliding bar 421 is fixed to a side wall of the storage bin. The first member 422 is slidably mounted on the slide bar 421, the first member 422 is capable of moving along the slide bar 421, the second member 423 is slidably mounted on the first member 422, the second member 423 is capable of sliding along the first member 422, and the moving direction of the first member 422 is perpendicular to the moving direction of the second member 423. A plurality of third sensors 427 are provided on the first member 422 or the second member 423 along the moving direction of the second member 423, and different third sensors 427 can detect different moving distances of the second member 423. In an example, the sliding rod 421 is a horizontal cross rod, the first part 422 can move in the horizontal direction along the sliding rod, the second part 423 is provided with a sliding block, the first part 422 is provided with a sliding rail, the axis direction of which is the vertical direction, and the second part 423 can move in the vertical direction along the first part 422. The first jaw motor 424 is fixedly mounted on the second member 423, the first gripper 425 and the second gripper 426 are mounted on the first jaw motor 424, and the first gripper motor 424 can move the first gripper 425 and/or the second gripper 426 in a direction away from or toward each other.

Preferably, the first member 422 is provided with a plurality of third sensors 427, the arrangement direction of the plurality of third sensors 427 is the same as the moving direction of the second member 423, the second member 423 is provided with a third sensing piece 428, and the third sensors 427 correspond to the third sensing piece 428; or a plurality of third sensors 427 are arranged on the second member 423, the arrangement direction of the plurality of third sensors 427 is consistent with the moving direction of the second member 423, a third sensing piece 428 is arranged on the first member 422, and the third sensors 427 correspond to the third sensing piece 428. In an example, four third sensors 427 are arranged on the first component 422, the arrangement direction of the four third sensors 427 is consistent with the moving direction of the second component 423, a third sensing piece 428 is arranged on the second component 423, the third sensors 427 correspond to the third sensing piece 428, the four third sensors 427 are respectively arranged on two sides of the first component 422, the third sensing pieces 428 are respectively arranged on two sides of the second component 423, each third sensor 427 can detect materials with one thickness, of course, more or less third sensors 427 can be arranged according to actual needs, and third sensors 427 at other positions can be arranged according to needs. Set up the third sensor, detect the thickness of judging the material through the distance that responds to the second part downstream, set up the third sensor of a plurality of different positions, can detect the material of multiple different thickness.

As shown in fig. 1 and 8, at least one through hole 433 is formed in the discharging platform 431, at least one fourth sensor 434 is installed at a position, corresponding to the through hole 433, of the bottom of the discharging platform 431, a distance between the fourth sensor 434 and the center of the discharging platform 431 is matched with a size of the material, and the fourth sensor 434 is configured to be capable of detecting the size of the material. Preferably, a plurality of through holes 433 are formed in the discharging platform 431, a fourth sensor 434 is installed at a position, corresponding to the through holes 433, of the bottom of the discharging platform 431, the through holes 433 correspond to the fourth sensor 434 in a one-to-one correspondence manner, and distances between the different through holes 433 and the center of the discharging platform 431 correspond to different material sizes, that is, the distance between the through holes 433 and the center of the discharging platform is half of the radius or the side length of the material. More preferably, a plurality of through holes 433 are formed on the circumference of the discharging table 431 at the same distance from the center, and the through holes 433 correspond to the fourth sensors 434 one by one. In the example, three through holes 433 are formed on the circumference of the discharging platform 431 at the same distance from the center. Different positions of the discharging table are provided with the through holes and the fourth sensor, so that the size of the material can be detected. Set up a plurality of fourth sensors along the circumference of blowing platform center equidistance, not only provide multiple guarantee, can also judge whether the material correctly places, if place the slope and probably can make the material of at least one fourth sensor response of corresponding distance department. If the fourth sensors at different intervals from the center of the discharging table sense the materials, the detection data of the fourth sensor at the maximum interval is the size of the materials. Detect the different thickness and the not unidimensional of material, the storage storehouse check of matching best size when being convenient for follow-up material storage in storage work or material rest helps storing effective, the rational utilization of work or material rest, realizes the utilization ratio maximize.

As shown in fig. 1 and fig. 5 to 7, the feeding portion 41 includes a feeding base 411, a screw 412, a lifting plate 413, a lifting driving structure 414, an upper plate 415, the feeding cart 2, and at least one supporting rod 416, and the lifting plate 413 can move up or down along the screw 412 under the driving of the lifting driving structure 414. One end of the supporting rod 416 is fixedly arranged on the base 411, the other end of the supporting rod 416 is fixedly provided with an upper plate 415, one end of the screw rod 412 is rotatably connected onto the base 411, the other end of the screw rod 412 is rotatably connected onto the upper plate 415, the lifting plate 413 is provided with a through hole matched with the supporting rod 416 and an internal threaded hole matched with the screw rod 412, the lifting plate 413 is arranged on the supporting rod 416 through the through hole in a sleeved mode and freely slides along the supporting rod 416, the lifting plate 413 is arranged on the screw rod 412 through the internal threaded hole in a sleeved mode, the lifting driving structure 414 is in driving connection with the screw rod 412 and can drive the screw rod 412 to rotate, and therefore the lifting plate 413 arranged on the screw rod 412 in a sleeved mode ascends or descends along the screw rod, in the example, the lifting driving structure 414 is a driving motor, and the driving motor is fixedly arranged on the upper plate 415. Preferably, at least one limiting column 418 is arranged on the lifting plate 413, and a fifth sensor 419 is arranged on the upper plate 415. In an example, the feeding base 411 is provided with a trolley groove 417, the feeding trolley 2 is accommodated in the trolley groove 417, one side of the trolley groove 417, which is far away from an inlet of the feeding trolley, is fixedly provided with a magnet attracting body 4111, the feeding base 411 is further fixedly provided with an anti-collision pad 4112, the anti-collision pad 4112 and the magnet attracting body 4111 are located on the same side of the trolley groove 417, and the anti-collision pad 4112 can protect the feeding trolley 2 from being collided, so that the durability of the feeding trolley is improved, and the service life of the feeding trolley is prolonged. Of course, the crash pad 4112 may also be disposed on the feeding cart 2 to achieve the crash-proof effect.

As shown in fig. 7, the feeding trolley 2 includes a material rod 21, a tray 22 and a trolley frame 23, the material rod 21 is fixedly arranged on the trolley frame 23, both the tray 22 and the material can be movably sleeved on the material rod 21, the tray 22 is arranged below the material, a gap 24 is arranged between the tray 22 and the trolley frame 23, the bottom of the tray 22 is provided with at least one limiting groove 221, the limiting groove 221 corresponds to the limiting column 418, and the bottom of the trolley frame 23 is provided with a trolley slide rail 231; when the feeding trolley 2 is fed into the feeding part, the trolley slide rail 231 is accommodated in the trolley groove 417, and the lifting plate 413 and the limiting column 418 on the lifting plate 413 are accommodated in the gap 24. When the lifting plate 413 pushes the material on the tray 22 upwards, the limiting column 418 is accommodated in the limiting groove 221, the feeding trolley cannot be moved out of the feeding part at the moment, and the limiting column and the limiting groove play a role in limiting and preventing fool. Preferably, the bottom of the trolley frame 23 is further provided with an electromagnet 232 matched with the magnet 4111, and the feeding trolley 2 is fixed on the feeding base 411 through the electromagnet. Of course, the trolley frame 23 may be provided with a magnet, and the feeding base 411 may be provided with an electromagnet, so as to fix the feeding trolley 2 on the feeding base 411.

The upper plate 415 is provided with a fifth sensor 419, the fifth sensor 419 faces the material rod 21, and the position where the fifth sensor 419 can detect the material on the material rod 21 is defined as a material taking position of the feeding part. During feeding, the lifting plate 413 pushes the materials on the tray 22 upwards until the fifth sensor 419 detects the materials on the material rod 21, the fifth sensor 419 sends a signal to the control system, then the control system instructs the lifting driving structure to stop moving, the uppermost materials on the material rod 21 are stopped at the material taking position, at this time, the force control clamping jaw 42 moves to the upper side of the materials, the first clamping jaw 425 and the second clamping jaw 426 stretch into the central hole of the materials, the first clamping jaw 425 and the second clamping jaw 426 stretch out to support the materials tightly, and then the materials are clamped and conveyed onto the discharging table 431.

All the features of the above components can be freely combined without conflict, and in addition, the structural change, the modification and the amendment of the components are also within the protection scope of the present patent.

In the description herein, reference to the description of the terms "one embodiment," "some embodiments," "yet another embodiment," "other embodiments," "an example," "a specific example" or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples described in this specification can be combined and combined by one skilled in the art.

While embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and not to be construed as limiting the present invention, and that changes, modifications and variations may be made therein by those of ordinary skill in the art within the scope of the present invention.

Claims

1. A force control clamping jaw capable of detecting material thickness is characterized by comprising a first part (422), a second part (423), a first clamping jaw motor (424), a first clamping jaw (425) and a second clamping jaw (426);

the second component (423) is slidably mounted on the first component (422), the second component (423) can slide along the first component (422), a plurality of third sensors (427) are arranged on the first component (422) or the second component (423) along the moving direction of the second component (423), and different third sensors (427) can detect different moving distances of the second component (423);

the first clamping jaw motor (424) is fixedly arranged on the second component (423), the first clamping jaw motor (425) and the second clamping jaw motor (426) are arranged on the first clamping jaw motor (424), and the first clamping jaw motor (424) can enable the first clamping jaw (425) and/or the second clamping jaw (426) to move towards the direction far away from or close to each other.

2. Force controlled jaw according to claim 1, further comprising a slide bar (421), the first part (422) being slidably mounted on the slide bar (421), the first part (422) being movable along the slide bar (421), the direction of movement of the first part (422) being perpendicular to the direction of movement of the second part (423).

3. A force controlled jaw according to claim 1, characterized in that said first member (422) is provided with a plurality of third sensors (427), said plurality of third sensors (427) being arranged in a direction corresponding to the direction of movement of said second member (423), said second member (423) being provided with a third sensing tab (428), said third sensors (427) corresponding to said third sensing tab (428); or

The second component (423) is provided with a plurality of third sensors (427), the arrangement direction of the plurality of third sensors (427) is consistent with the moving direction of the second component (423), the first component (422) is provided with a third sensing piece (428), and the third sensors (427) correspond to the third sensing piece (428).

4. A feeding device, characterized by comprising a feeding part (41), a detecting part (43) and a force-controlled clamping jaw (42) according to any one of claims 1-3;

the utility model discloses a material storage device, including material loading portion (41), material loading portion (41) can place the material of treating the storage, be provided with on material loading portion (41) and get material level and lift drive structure (414), the material of material loading portion (41) can be transferred to getting the material level through lift drive structure (414), power control clamping jaw (42) can press from both sides the material of getting the material level to detection portion (43), detection portion (43) are including blowing platform (431) and detection camera (432), detection camera (432) set up in blowing platform (431) top, detection camera (432) can detect the material information on the material.

5. The feeding device as claimed in claim 4, wherein the discharging platform (431) is provided with at least one through hole (433), at least one fourth sensor (434) is arranged at the bottom of the discharging platform (431) corresponding to the through hole (433), the distance between the fourth sensor (434) and the center of the discharging platform (431) is matched with the size of the material, and the fourth sensor (434) is configured to be capable of detecting the size of the material.

6. The feeding device according to claim 4, characterized in that the feeding part (41) comprises a feeding base (411), a screw rod (412), a lifting plate (413), a lifting driving structure (414) and a feeding trolley (2), the lifting plate (413) can move upwards or downwards along the screw rod (412) under the driving of the lifting driving structure (414), and the feeding base (411) is provided with a trolley groove (417);

the feeding trolley (2) is provided with a material rod (21), a tray (22) and a trolley frame (23), the material rod (21) is fixedly arranged on the trolley frame (23), the tray (22) and the material can be movably sleeved on the material rod (21), the tray (22) is arranged below the material, a gap (24) is formed between the tray (22) and the trolley frame (23), the bottom of the feeding trolley (2) is accommodated in a trolley groove (417), and a lifting plate (413) is accommodated in the gap (24).

7. The feeding device according to claim 6, wherein at least one limiting groove (221) is formed in the bottom of the tray (22), at least one limiting column (418) is arranged on the lifting plate (413), and the limiting column (418) corresponds to the limiting groove (221);

when the lifting plate (413) pushes the material on the tray (22) upwards, the limiting column (418) is accommodated in the limiting groove (221).

8. The feeding device according to claim 6, wherein the feeding part (41) further comprises an upper plate (415) and at least one supporting rod (416), one end of the supporting rod (416) is fixedly arranged on the base (411), the other end of the supporting rod (416) is fixedly provided with the upper plate (415), the upper plate (415) is provided with a fifth sensor (419), and the fifth sensor can detect the material at the material taking position.

9. The feeding device as claimed in claim 6, wherein an electromagnet is further arranged on the feeding trolley (2) or the feeding base (411), and the feeding trolley (2) is fixed on the feeding portion through the electromagnet.