CN209736645U - Loading and unloading device of manipulator - Google Patents
Loading and unloading device of manipulator Download PDFInfo
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- CN209736645U CN209736645U CN201920506323.6U CN201920506323U CN209736645U CN 209736645 U CN209736645 U CN 209736645U CN 201920506323 U CN201920506323 U CN 201920506323U CN 209736645 U CN209736645 U CN 209736645U
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Abstract
The utility model provides a unloader on manipulator, its solve the space occupancy that unloader exists on current robotic arm big, the whole coordination of arranging is not enough, supporting problem with high costs. Including manipulator and feed frame, the feed frame includes a supporting beam and feed frame subassembly, the feed frame subassembly includes a feed platform, a vertical support frame and a casting formula base, the feed platform, vertical support frame is all installed on casting formula base, be equipped with an electric cabinet on the vertical support frame, the feed platform passes through casting formula base and sets up in one side of numerical control machine tool, the perpendicular rigid coupling of a supporting beam in vertical support frame top and be located the top of numerical control machine tool, the manipulator passes through three-dimensional linear displacement mechanism and installs on a supporting beam, manipulator, three-dimensional linear displacement mechanism with electric cabinet automatically controlled connection, three-dimensional linear displacement mechanism can drive the manipulator and do X to, Y to and Z to linear motion in order to realize that the manipulator removes and getting of work piece between feed platform and numerical control machine tool.
Description
Technical Field
The utility model relates to a numerical control processing auxiliary assembly field specifically is a unloader on manipulator.
Background
generally, a feeding table for placing a workpiece to be machined is arranged on one side of a numerical control machine tool, the workpiece is manually picked from the feeding table and placed on the numerical control machine tool for numerical control machining in the past, and the traditional manual loading and unloading operation is low in efficiency and often has certain potential safety hazards; with the increasing development and popularization of automation technology, the mechanical arm is more and more applied to the field of numerical control machining, and the mechanical arm is used for picking, transferring and placing workpieces, so that an indispensable auxiliary technical means in the numerical control machining process is provided. At present, most of manipulators are installed on a portal frame through linear slide rail assemblies, and a portal frame body is erected above a numerical control machine tool, so that the manipulators can linearly move between the numerical control machine tool and a feeding table under the driving of the linear slide rail assemblies to realize the transfer of workpieces between the feeding table and the numerical control machine tool; however, the portal frame body not only occupies a large space, but also has insufficient overall matching coordination, and the matched portal frame body is often required to be customized for different types of numerical control machine tools, so the universality is poor, and the matching cost is high.
SUMMERY OF THE UTILITY MODEL
to the above problem, the utility model provides a unloader on manipulator, it can solve the space occupancy that unloader exists on the robotic arm that current adopted portal frame structure, wholly arrange the not enough and supporting problem with high costs of harmony.
Its technical scheme does, a unloader on manipulator, and it includes manipulator and feed frame, its characterized in that: the feed frame includes a supporting beam and feed frame subassembly, the feed frame subassembly includes a feed platform, a vertical support frame and a casting formula base, feed platform, vertical support frame all install in on the casting formula base, be equipped with an electric cabinet on the vertical support frame, the feed platform passes through casting formula base and sets up in one side of numerical control machine tool, the perpendicular rigid coupling of a supporting beam in vertical support frame top is located the top of numerical control machine tool, the manipulator pass through three-dimensional linear displacement mechanism install in on a supporting beam, manipulator, three-dimensional linear displacement mechanism with the electric cabinet is automatically controlled to be connected, three-dimensional linear displacement mechanism can drive X is to, Y is to and Z is to linear motion in order to realize that the manipulator removes and getting of work piece between feed platform and numerical control machine tool.
Furthermore, the casting type base is provided with a containing cavity, the containing cavity enables the casting type base to be L-shaped, the feeding table is installed in the containing cavity, and the upper end and the lower end of the vertical supporting frame are fixedly connected with the bottom surface of the supporting beam and the top surface of the casting type base respectively.
Further, vertical support frame includes two vertical parallel stands, and two equal top of stand weld in supporting beam bottom, bottom weld in cast formula base top, two through the integrative rigid coupling of reinforcing plate between the stand.
furthermore, the upper end and the lower end of the reinforcing plate are flush with the two upright posts in the same height, and the upper end and the lower end of the reinforcing plate are respectively welded with the bottom surface of the supporting beam and the top surface of the cast base.
further, three-dimensional linear displacement mechanism includes that X is to slide, Y to slide and Z to the slide, it is equipped with X to linear slide to a supporting beam, X to slide slidable mounting in X is to linear slide on the slide, X is to being connected with Y to the slide on the slide, Y to slide slidable mounting in Y is to on the slide, Y is to installing in Z to the slide on the slide, Z to slide slidable mounting in Z is to on the slide, the manipulator install in Z is to on the slide.
furthermore, the numerical control machine tool is a numerical control lathe, the feeder frame assembly is provided with a group, a feeder table of the feeder frame assembly is arranged on any one side of the four sides of the numerical control lathe through a casting type base, and the supporting beam is fixedly connected with the vertical supporting frame of the feeder frame assembly in an L-shaped right angle mode.
furthermore, the numerical control machine tool is composed of two numerical control lathes, the feeding frame assembly is provided with a group of two numerical control lathes, the two numerical control lathes are arranged in parallel in the same direction or in parallel in opposite directions or in parallel in back direction, the supporting beam is vertically fixedly connected with the vertical supporting frame of the feeding frame assembly in a T-shaped mode, the feeding table of the feeding frame assembly is arranged between the two numerical control lathes through the casting type base, and the two sides of the supporting beam are arranged above the two numerical control lathes in a spanning mode respectively.
Furthermore, the numerical control machine tool is at least two numerical control lathes which are arranged in the same direction and in a longitudinal single row or in the same direction and in a transverse single row; when the material feeding device is longitudinally arranged in a single row, the supporting beam is arranged above at least two numerically controlled lathes in a spanning mode along the longitudinal horizontal direction, and a group of material feeding frame assemblies are arranged on the front side of each numerically controlled lathe or the rear side of each numerically controlled lathe; when the supporting beams are arranged in a transverse single row, the supporting beams are horizontally and transversely arranged above at least two numerically controlled lathes in a spanning mode, and a group of feeding rack assemblies is arranged on the left side of each numerically controlled lathe or on the right side of each numerically controlled lathe; and the vertical support frames of each group of feeding frame assemblies are fixedly connected with the support beam vertically.
Furthermore, the numerical control machine tool is a numerical control vertical machining center, the feeding frame assembly is provided with a group, the feeding table of the feeding frame assembly is arranged on the front side or the right side of the numerical control vertical machining center through the casting type base, and the supporting beam is fixedly connected with the vertical supporting frame of the feeding frame assembly in an L-shaped right angle mode.
Furthermore, the numerical control machine tool is provided with at least two numerical control vertical machining centers, the at least two numerical control vertical machining centers are arranged in the same direction and longitudinally in a single row, a group of feeding frame assemblies is arranged on the right side between every two adjacent numerical control vertical machining centers, the supporting beam longitudinally spans the upper side of the right side of the at least two numerical control vertical machining centers, and the top of the vertical supporting frame of each group of feeding frame assemblies is fixedly connected to the bottom of the supporting beam vertically.
The beneficial effects of the utility model reside in that: the feeding frame assembly of the feeding rack can be arranged on one side of the numerical control machine tool, the supporting beam is arranged above the numerical control machine tool, the manipulator realizes the movement between the feeding table and the numerical control machine tool and the picking and placing of workpieces through the three-dimensional linear displacement mechanism arranged on the supporting beam, the overall occupied space is small, and the feeding frame assembly can be arranged on one corresponding side according to the structures of different numerical control machine tools or the installation space requirements of the numerical control machine tool, so that the overall matching coordination is greatly improved, the universality is strong, and the production matching cost is low; in addition, the feeding frame assembly adopts a casting type base, so that the overall rigidity of the whole feeding frame assembly can be effectively improved, and the stability of the automatic feeding and discharging device is ensured.
Drawings
Fig. 1 is a schematic view of a first implementation manner of a loading and unloading device for a manipulator according to the present invention;
Fig. 2 is a schematic view of a second implementation manner of the feeding and discharging device for a manipulator according to the embodiment of the present invention;
Fig. 3 is a schematic view of a third embodiment of a loading and unloading device for a manipulator according to the present invention;
fig. 4 is a schematic view of a first implementation manner of a second embodiment of a loading and unloading device for a manipulator according to the present invention;
fig. 5 is a schematic view of a second embodiment of a loading and unloading device for a manipulator according to the present invention;
Fig. 6 is a schematic view of a third embodiment of a loading and unloading device for a manipulator according to the present invention;
Fig. 7 is a schematic view of a third embodiment of a loading and unloading device for a manipulator according to the present invention;
Fig. 8 is a schematic view of a second implementation manner of a third embodiment of a loading and unloading device for a manipulator according to the present invention;
Fig. 9 is a schematic view of a first implementation manner of a fourth embodiment of a loading and unloading device for a manipulator according to the present invention;
fig. 10 is a schematic view of a second implementation manner of a fourth embodiment of a loading and unloading device for a manipulator according to the present invention;
fig. 11 is a schematic view of a fifth embodiment of the feeding and discharging device for a manipulator of the present invention.
Reference numerals: 10-a manipulator, 21-a support beam, 22-a feeder assembly, 221-a feeder table, 222-a vertical support frame, 222 a-a column, 222 b-a reinforcing plate, 223-a casting type base, 224-an electric cabinet, 225-a containing cavity, 31-a numerical control lathe, 32-a numerical control vertical machining center, 41-X-direction sliding seats, 42-Y-direction sliding seats, 43-Z-direction sliding seats, 44-X-direction linear sliding rails, 45-Y-direction sliding rails, 46-Z-direction sliding rails and 50-a machine box door.
Detailed Description
for convenience of understanding, the terms "front, rear, left, and right" in the present embodiment are based on a side surface of the cabinet door of the numerical control machine tool, and one side of the cabinet door 50 of the numerical control machine tool is a front side surface; the "same direction" is also based on one side of the door of the numerically controlled machine tool, and the "same direction" is the same direction of the doors 50 of the plurality of numerically controlled machine tools.
The first embodiment is as follows:
Referring to fig. 1, a loading and unloading device for a manipulator includes a manipulator 10 and a feeding rack, the feeding rack includes a supporting beam 21 and a set of feeding rack assemblies 22, the feeding rack assemblies 22 include a feeding table 221, a vertical supporting frame 222 and a casting type base 223, and a workpiece is placed on the feeding table 221 through a tray positioning mechanism; the feeding table 221 and the vertical supporting frame 222 are both mounted on a casting type base 223, an electric cabinet 224 is arranged on the vertical supporting frame 222, the feeding table 221 is arranged on the left side of the numerical control machine tool through the casting type base 223, the numerical control machine tool is a numerical control lathe 31 in the embodiment, and the casting type base 223 of the feeding frame can be arranged on the front side (see fig. 2), the rear side (see fig. 3) or the right side of the numerical control lathe 31 according to the requirement of the occupied space of the numerical control lathe 31 in actual production; the support beam 21 is vertically and fixedly connected to the top of the vertical support frame 222 and is positioned above the numerically controlled lathe 31, and the support beam 21 is fixedly connected with the vertical support frame 222 of the feeding frame assembly in an L-shaped right angle; the manipulator 10 is mounted on the support beam 21 through a three-way linear displacement mechanism, the manipulator 10 and the three-way linear displacement mechanism are electrically connected with the electric cabinet 224, and the three-way linear displacement mechanism can drive the manipulator 10 to perform linear motions in the X direction, the Y direction and the Z direction so as to realize the movement of the manipulator between the feeding table 221 and the numerically controlled lathe 31 and the taking and placing of workpieces.
Wherein, the casting base 223 has an accommodating cavity 225, and the accommodating cavity 225 makes the casting base 223 in L shape, the feeding table 221 is installed in the accommodating cavity 225, and the upper and lower ends of the vertical supporting frame 222 are respectively fixed with the bottom surface of the supporting beam 21 and the top surface of the casting base 223; adopt the casting formula base 223 that is L shape can be guaranteeing effectively practice thrift equipment occupation space under the condition of feed frame overall stability, reduce equipment space occupancy.
The vertical support frame 222 includes two vertical parallel columns 222a, top ends of the two columns 222a are welded to the bottom of the support beam 21, bottom ends of the two columns 222a are welded to the top of the cast base 223, and the two columns 222a are integrally fixed to each other by a reinforcing plate 222 b. Furthermore, the upper and lower ends of the reinforcing plate 222b are flush with the heights of the two columns 222a, and the upper and lower ends of the reinforcing plate 222b are welded to the bottom surface of the support beam 21 and the top surface of the cast base 22 respectively; therefore, the rigidity and the integral stability of the supporting beam 21 and the feeding frame can be further improved, and the reliable and stable operation of the device is ensured.
The three-way linear displacement mechanism comprises an X-direction sliding base 41, a Y-direction sliding base 42 and a Z-direction sliding base 43, wherein an X-direction linear sliding rail 44 is arranged on the supporting beam 21, the X-direction sliding base 41 is slidably mounted on the X-direction linear sliding rail 44, the X-direction sliding base 41 is provided with a Y-direction sliding rail 45, the Y-direction sliding base 42 is slidably mounted on the Y-direction sliding rail 45, the Y-direction sliding base 42 is provided with a Z-direction sliding rail 46, the Z-direction sliding base 43 is slidably mounted on the Z-direction sliding rail 46, and the manipulator 10 is.
Example two:
The difference from the first embodiment is that the nc machine tool is two nc lathes 31, the supporting beam 21 is vertically and fixedly connected with the vertical supporting frame 222 of the feeding frame assembly 22 in a T shape, the feeding table 221 of the feeding frame assembly 22 is arranged between the two nc lathes 31 through the casting base 223, and two sides of the supporting beam 21 are respectively arranged above the two nc lathes 31 in a spanning manner, so that the feeding and discharging requirements on the two nc lathes 31 can be met by arranging one group of feeding frame assemblies 22 (namely only one feeding table 221 is arranged), and the occupied space of the equipment can be greatly saved; the two numerically controlled lathes 31 can be arranged side by side in the same direction according to the actual space requirement (see fig. 4), that is, the two numerically controlled lathes are arranged in the same direction; or the two numerically controlled lathes 31 are oppositely arranged (see fig. 5), that is, the machine box doors 50 of the two numerically controlled lathes 31 are arranged face to face; or the two numerically controlled lathes 31 are arranged in a back-to-back manner (see fig. 6), that is, the two numerically controlled lathes are arranged in a back-to-back manner according to the box door; therefore, the utility model further highlights the advantage of strong universality.
Example three:
The difference from the first embodiment and the second embodiment is that the numerical control machine tool is at least two numerical control lathes 31, in the present embodiment, four numerical control lathes 31 are provided, and the four numerical control lathes 31 are arranged in the same direction and in a single longitudinal row (see fig. 7) or in the same direction and in a single transverse row (see fig. 8);
When the four numerically controlled lathes 31 are arranged in the same direction and in a single longitudinal row, as shown in fig. 7, the support beam 21 is horizontally spanned above the four numerically controlled lathes 31 in the longitudinal direction, a group of feeding frame assemblies 22 is arranged on the front side of each numerically controlled lathe 31, that is, the front side of each numerically controlled lathe 31 is provided with a feeding table 221 through a casting type base 223, the vertical support frame 222 of each group of feeding frame assemblies 22 is vertically and fixedly connected to the bottom of the support beam 21, and the manipulator 10 can realize the transfer and pick-and-place of workpieces between each numerically controlled lathe 31 and the feeding table 221 on the front side thereof according to a preset process beat under the drive of a three-way linear displacement mechanism; according to the actual space requirement, a group of feeding frame assemblies 22 can be arranged on the rear side of each numerically controlled lathe 31;
When the four numerically controlled lathes 31 are arranged in the same direction and in a single transverse row, as shown in fig. 8, the supporting beam 21 is horizontally spanned above the four numerically controlled lathes 31 in the transverse direction, the left side of each numerically controlled lathe 31 is provided with a group of feeding frame assemblies 22, that is, the left side of each numerically controlled lathe 31 is provided with a feeding table 221 through a casting type base 223, the vertical supporting frame 222 of each group of feeding frame assemblies 22 is also vertically and fixedly connected to the bottom of the supporting beam 21, and the same manipulator 10 is driven by a three-way linear displacement mechanism to realize the conveying and picking and placing of workpieces between each numerically controlled lathe 31 and the feeding table 221 on the left side thereof according to a preset process beat; according to the actual space requirement, a group of feed rack assemblies 22 can be arranged on the right side of each numerically controlled lathe 31.
Example four:
the difference from the first embodiment is that the nc machine tool is a nc vertical machining center 32, the feeding rack assemblies 22 are provided in one group, the feeding racks 221 of the feeding rack assemblies 22 are provided on the right side (see fig. 9) or the front side (see fig. 10) of the nc vertical machining center 32 through the casting type bases 223, and similar to the first embodiment, the supporting beams 21 are fixedly connected to the vertical supporting frames 222 of the feeding rack assemblies 22 in an L-shaped right angle.
example five:
The difference with the fourth embodiment is that the numerical control machine tool is at least two numerical control vertical machining centers 32, in this embodiment, four numerical control vertical machining centers 32 are provided, the four numerical control vertical machining centers 32 are arranged in a single row in the same direction and along the longitudinal direction, see fig. 11, a set of feeding rack assemblies 22 is provided on the right side between the four numerical control vertical machining centers 32, the supporting beam 21 longitudinally spans above the right side of the four numerical control vertical machining centers 32, and the top of the vertical supporting frame 222 of each set of feeding rack assemblies 22 is vertically and fixedly connected to the bottom of the supporting beam 21.
The detailed description of the embodiments of the present invention has been provided, but the present invention is only the preferred embodiments of the present invention, and should not be considered as limiting the scope of the present invention. All the equivalent changes and improvements made according to the application scope of the present invention should be covered by the patent of the present invention.
Claims (10)
1. The utility model provides a unloader on manipulator, its includes manipulator and feed frame, its characterized in that: the feed frame includes a supporting beam and feed frame subassembly, the feed frame subassembly includes a feed platform, a vertical support frame and a casting formula base, feed platform, vertical support frame all install in on the casting formula base, be equipped with an electric cabinet on the vertical support frame, the feed platform passes through casting formula base and sets up in one side of numerical control machine tool, the perpendicular rigid coupling of a supporting beam in vertical support frame top is located the top of numerical control machine tool, the manipulator pass through three-dimensional linear displacement mechanism install in on a supporting beam, manipulator, three-dimensional linear displacement mechanism with the electric cabinet is automatically controlled to be connected, three-dimensional linear displacement mechanism can drive X is to, Y is to and Z is to linear motion in order to realize that the manipulator removes and getting of work piece between feed platform and numerical control machine tool.
2. The manipulator loading and unloading device according to claim 1, wherein: the casting type base is provided with a containing cavity, the containing cavity enables the casting type base to be L-shaped, the feeding table is installed in the containing cavity, and the upper end and the lower end of the vertical supporting frame are fixedly connected with the bottom surface of the supporting beam and the top surface of the casting type base respectively.
3. The manipulator loading and unloading device according to claim 1, wherein: vertical support frame includes two vertical parallel stands, and two the equal top of stand weld in supporting beam bottom, bottom weld in cast type base top, two through the integrative rigid coupling of reinforcing plate between the stand.
4. the manipulator loading and unloading device according to claim 3, wherein: the upper end and the lower end of the reinforcing plate are flush with the two stand columns in the same height, and the upper end and the lower end of the reinforcing plate are respectively welded with the bottom surface of the supporting beam and the top surface of the cast base.
5. A manipulator loading and unloading device according to any one of claims 1 to 4, wherein: three-dimensional linear displacement mechanism includes that X is to slide, Y to slide and Z to the slide, it is equipped with X to linear slide to a supporting beam, X to slide slidable mounting in X is to linear slide on the slide, X is to being connected with Y on the slide to the slide, Y to slide slidable mounting in Y is to on the slide, Y is to installing in Z to the slide on the slide, Z to slide slidable mounting in Z is to on the slide, the manipulator install in Z is to on the slide.
6. A manipulator loading and unloading device according to any one of claims 1 to 4, wherein: the numerical control machine tool is a numerical control lathe, the feeding frame assembly is provided with a group, the feeding table of the feeding frame assembly is arranged on any side of the four sides of the numerical control lathe through the casting type base, and the supporting beam is fixedly connected with the vertical supporting frame of the feeding frame assembly in an L-shaped right angle mode.
7. A manipulator loading and unloading device according to any one of claims 1 to 4, wherein: the numerical control machine tool is characterized in that the numerical control machine tool is composed of two numerical control lathes, the feeding frame assembly is provided with a group of two numerical control lathes, the two numerical control lathes are arranged in parallel in the same direction or in parallel in opposite directions or in parallel in back direction, the supporting beam and the vertical supporting frame of the feeding frame assembly are in T-shaped vertical fixed connection, the feeding table of the feeding frame assembly is arranged between the two numerical control lathes through a casting type base, and two sides of the supporting beam are respectively arranged above the two numerical control lathes in a spanning mode.
8. A manipulator loading and unloading device according to any one of claims 1 to 4, wherein: the numerical control machine tool is at least two numerical control lathes which are arranged in the same direction and in a longitudinal single row or in the same direction and in a transverse single row; when the material feeding device is longitudinally arranged in a single row, the supporting beam is arranged above at least two numerically controlled lathes in a spanning mode along the longitudinal horizontal direction, and a group of material feeding frame assemblies are arranged on the front side of each numerically controlled lathe or the rear side of each numerically controlled lathe; when the supporting beams are arranged in a transverse single row, the supporting beams are horizontally and transversely arranged above at least two numerically controlled lathes in a spanning mode, and a group of feeding rack assemblies is arranged on the left side of each numerically controlled lathe or on the right side of each numerically controlled lathe; and the vertical support frames of each group of feeding frame assemblies are fixedly connected with the support beam vertically.
9. A manipulator loading and unloading device according to any one of claims 1 to 4, wherein: the numerical control machine tool is a numerical control vertical machining center, the feeding rack assembly is provided with a group, a feeding table of the feeding rack assembly is arranged on the front side or the right side of the numerical control vertical machining center through a casting type base, and the supporting beam is fixedly connected with a vertical supporting frame of the feeding rack assembly in an L-shaped right angle mode.
10. A manipulator loading and unloading device according to any one of claims 1 to 4, wherein: the numerical control machine tool is provided with at least two numerical control vertical machining centers, the at least two numerical control vertical machining centers are arranged in the same direction and longitudinally in a single row, a group of feeding rack assemblies are arranged on the right side between every two adjacent numerical control vertical machining centers, the supporting beam longitudinally spans the upper part of the right side of the at least two numerical control vertical machining centers, and the top of the vertical supporting frame of each group of feeding rack assemblies is vertically and fixedly connected to the bottom of the supporting beam.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920506323.6U CN209736645U (en) | 2019-04-15 | 2019-04-15 | Loading and unloading device of manipulator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920506323.6U CN209736645U (en) | 2019-04-15 | 2019-04-15 | Loading and unloading device of manipulator |
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| CN209736645U true CN209736645U (en) | 2019-12-06 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109877346A (en) * | 2019-04-15 | 2019-06-14 | 苏州珈玛自动化科技有限公司 | Manipulator handling equipment |
| CN111115235A (en) * | 2019-12-31 | 2020-05-08 | 宁波开浦智能科技有限公司 | Rotary grabbing device and processing equipment |
| TWI724856B (en) * | 2020-04-07 | 2021-04-11 | 陽程科技股份有限公司 | Bobbin material placing device and method |
| CN112978282A (en) * | 2021-03-31 | 2021-06-18 | 惠州市诚业家具有限公司 | Conveying device for improving conveying efficiency and conveying and material taking method thereof |
-
2019
- 2019-04-15 CN CN201920506323.6U patent/CN209736645U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109877346A (en) * | 2019-04-15 | 2019-06-14 | 苏州珈玛自动化科技有限公司 | Manipulator handling equipment |
| CN111115235A (en) * | 2019-12-31 | 2020-05-08 | 宁波开浦智能科技有限公司 | Rotary grabbing device and processing equipment |
| TWI724856B (en) * | 2020-04-07 | 2021-04-11 | 陽程科技股份有限公司 | Bobbin material placing device and method |
| CN112978282A (en) * | 2021-03-31 | 2021-06-18 | 惠州市诚业家具有限公司 | Conveying device for improving conveying efficiency and conveying and material taking method thereof |
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