CN215628177U

CN215628177U - Semi-wheel body automatic feeding and discharging clamping jaw for induction quenching equipment

Info

Publication number: CN215628177U
Application number: CN202122308979.7U
Authority: CN
Inventors: 王志鹏; 王盛军
Original assignee: Luoyang Sanheng Induction Heating Tech Co ltd
Current assignee: Luoyang Sanheng Induction Heating Tech Co ltd
Priority date: 2021-09-24
Filing date: 2021-09-24
Publication date: 2022-01-25
Anticipated expiration: 2031-09-24

Abstract

The utility model relates to the field of feeding and discharging manipulators for induction quenching equipment, in particular to an automatic feeding and discharging clamping jaw of a half wheel body for induction quenching equipment, which comprises a rotary driving mechanism, an upper and lower driving component, a mounting support frame, a feeding and discharging air cylinder component, a movable mounting plate, a turnover driving component and a turnover executing mechanism, the rotary driving mechanism is arranged on an external mechanical arm, the upper part of the mounting support frame is arranged on the rotary driving mechanism and is connected with the rotary driving mechanism, when in specific use, the feeding, discharging and station switching and turnover operation of the wheel body workpiece can be realized by one mechanical arm mechanism, the rotary driving mechanism is arranged on an external mechanical arm, can realize all operation actions of the wheel body workpiece, greatly reduces the labor burden of operators and improves the heat treatment work efficiency of the wheel body part.

Description

Semi-wheel body automatic feeding and discharging clamping jaw for induction quenching equipment

Technical Field

The utility model relates to the field of feeding and discharging manipulators for induction quenching equipment, in particular to an automatic feeding and discharging clamping jaw of a half wheel body for the induction quenching equipment.

Background

The full-automatic induction quenching complete equipment for the left wheel body and the right wheel body adopts a robot arm to automatically grab parts from a material frame, so that automatic feeding and discharging of a double-station double-spindle numerical control quenching machine tool are realized, the wheel body parts are placed in the material frame in a multilayer mode, the robot with the depth of the material frame being 700mm needs to grab the parts in the material frame in a layered mode and place the parts on the quenching machine tool, and automatic feeding and discharging are realized. The existing full-automatic induction quenching complete equipment for the left wheel body and the right wheel body only can realize the emptying and blanking operation of the wheel bodies by using a robot arm in the specific operation process, however, when the left wheel body part and the right wheel body part are subjected to heat treatment, the reverse side of the left wheel body part and the right wheel body part is also required to be heated, under the existing condition, an operator is required to perform station conversion and turnover operation through a handheld tool, the operation efficiency is low, and the labor intensity of the operator is high.

Disclosure of Invention

The utility model aims to provide an automatic feeding and discharging clamping jaw of a half wheel body for induction quenching equipment, which can complete the operations of feeding, discharging and station conversion and turnover of a wheel body workpiece through a mechanical arm mechanism when in specific use, greatly improves the heat treatment working efficiency of wheel body parts, and meets the use requirements of people.

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

a semi-wheel automatic feeding and discharging clamping jaw for induction quenching equipment comprises a rotary driving mechanism, an upper and lower driving component, a mounting support frame, a feeding and discharging air cylinder component, a movable mounting plate, a turnover driving component and a turnover executing mechanism, wherein the rotary driving mechanism is arranged on an external mechanical arm, the upper part of the mounting support frame is arranged on the rotary driving mechanism and is connected with the rotary driving mechanism, the upper and lower driving component is arranged on the mounting support frame, the movable mounting plate is arranged on the upper and lower driving component and is connected with the upper and lower driving component, the feeding and discharging air cylinder component is arranged at the lower side end part of the mounting support frame and is connected with the mounting support frame, the turnover driving component is arranged on the movable mounting plate through a connecting bolt group and is fastened with the movable mounting plate, the overturning actuating mechanism is arranged on the overturning driving component and connected with the overturning driving component through a connecting bolt group.

Rotatory drive mechanism include, rotary drive motor, motor mounting bracket, transition link, derailleur body and power output shaft, rotary drive motor install on motor mounting bracket and link together with motor mounting bracket, the derailleur body install at rotary drive motor's power take off end position and pass through the transition link with rotary drive motor and link to each other, install the power output shaft who is used for power take off on the derailleur body, the top of erection bracing frame install the outer end position at power output shaft and link to each other with power output shaft.

The up-down driving component comprises an up-down driving motor, an up-down adjusting screw rod, a first supporting bearing, a second supporting bearing and a movable driving block, the upper and lower driving motors are arranged on the mounting support frame and are fixedly connected with the mounting support frame, a first supporting bearing and a second supporting bearing are arranged on the mounting support frame, the upper side of the up-and-down adjusting screw rod is arranged at the position of the bearing inner ring of the first supporting bearing and is connected with the bearing inner ring of the first supporting bearing in an interference fit manner, the lower side of the up-down adjusting screw rod is arranged at the position of the bearing inner ring of the second supporting bearing and is connected with the bearing inner ring of the second supporting bearing in an interference fit way, the top of the up-down adjusting screw rod is arranged on the up-down driving motor and is connected with the up-down driving motor, the movable driving block is arranged on the up-and-down adjusting screw rod and is connected with the up-and-down adjusting screw rod in a threaded fit manner.

The installation support frame on process and to have T type groove, the removal drive block the downside install in T type groove and with T type groove looks damping sliding contact.

The movable driving block is provided with a threaded through hole, and the movable driving block is arranged on the vertical adjusting screw rod through the threaded through hole processed on the movable driving block and is connected with the vertical adjusting screw rod in a threaded matching way.

The turnover driving assembly comprises a turnover motor, a turnover driving shaft and a connecting mounting disc, wherein the turnover motor is installed on the moving mounting plate and fastened together with the moving mounting plate through a connecting bolt group, the turnover driving shaft is installed on the turnover motor and connected with the turnover motor, and one side of the connecting mounting disc is installed at the outer end part of the turnover driving shaft and fixedly connected with the turnover driving shaft.

The overturning executing mechanism comprises a lifting cylinder, a cylinder mounting frame and an overturning cylinder assembly, wherein the cylinder mounting frame is installed on the connecting mounting disc and fixedly connected with the connecting mounting disc, the lifting cylinder is installed on the cylinder mounting frame and connected with the cylinder mounting frame together, a cylinder rod is installed on the lifting cylinder, and the overturning cylinder assembly is installed on the cylinder rod and connected with the cylinder rod.

The overturning air cylinder assembly and the feeding and discharging air cylinder assembly are structurally the same, and the overturning air cylinder assembly and the feeding and discharging air cylinder assembly comprise a clamping air cylinder, a first air cylinder driving rod, a second air cylinder driving rod, a first clamping claw and a second clamping claw, wherein the first air cylinder driving rod and the second air cylinder driving rod are arranged on the clamping air cylinder and are connected with the clamping air cylinder, the first clamping claw is arranged on the first air cylinder driving rod and is fixedly connected with the first air cylinder driving rod, and the second clamping claw is arranged on the second air cylinder driving rod and is fixedly connected with the second air cylinder driving rod.

The utility model has the beneficial effects that: the utility model provides a semi-wheel body automatic feeding and discharging clamping jaw for induction quenching equipment, which has scientific overall structure design and simple and convenient installation operation, and is mainly characterized in that the utility model can realize the feeding and discharging and station-switching turnover operation of a wheel body workpiece by a mechanical arm mechanism through the common installation and matching operation of a rotary driving mechanism, an up-and-down driving component, an installation supporting frame, a feeding and discharging air cylinder component, a movable mounting plate, a turnover driving component, a turnover executing mechanism and other components, in particular to the feeding and discharging air cylinder component arranged on the installation supporting frame of the utility model can carry out the feeding and discharging operation on the wheel body workpiece, the turnover driving component and the turnover executing mechanism arranged on the movable mounting plate can carry out the station-switching turnover operation on the wheel body workpiece, and under the common cooperation of the feeding and discharging air cylinder component, the turnover driving component and the turnover executing mechanism, can realize all operation actions of the wheel body workpiece, greatly reduces the labor burden of operators and improves the heat treatment work efficiency of the wheel body part.

Drawings

FIG. 1 is a schematic view of the overall mounting structure of the present invention;

FIG. 2 is a schematic structural diagram of a rotation driving mechanism according to the present invention;

FIG. 3 is a schematic view of the structure of the up-down driving assembly of the present invention;

FIG. 4 is a schematic view of the tumble drive assembly of the present invention;

FIG. 5 is a schematic view of the flip actuator of the present invention;

FIG. 6 is a schematic view of the structure of the reversing cylinder assembly and the loading and unloading cylinder assembly in the present invention;

FIG. 7 is a schematic view of the present invention showing the movable actuator block mounted on the mounting bracket;

the reference numbers in the figures are: 1-a rotary driving mechanism, 2-an up-and-down driving assembly, 3-a mounting support frame, 4-a loading and unloading cylinder assembly, 5-a movable mounting plate, 6-a turnover driving assembly, 7-a turnover executing mechanism, 8-a T-shaped groove, 101-a rotary driving motor, 102-a motor mounting frame, 103-a transition connecting frame, 104-a transmission body, 105-a power output shaft, 201-an up-and-down driving motor, 202-an up-and-down adjusting screw rod, 203-a first supporting bearing, 204-a second supporting bearing, 205-a movable driving block, 401-a clamping cylinder, 402-a first cylinder driving rod, 403-a second cylinder driving rod, 404-a first clamping claw, 405-a second clamping claw, 601-a turnover motor, 602-a turnover driving shaft, 603-connecting mounting disc, 701-lifting cylinder, 702-cylinder mounting frame and 703-overturning cylinder assembly.

Detailed Description

Specific example 1: the core of the utility model is to provide an automatic feeding and discharging clamping jaw of a half wheel body for induction quenching equipment, and when the clamping jaw is used specifically, under the cooperation of the feeding and discharging air cylinder assembly 4, the overturning driving assembly 6 and the overturning executing mechanism 7, all operation actions on a wheel body workpiece can be realized, the labor burden of operators is greatly reduced, and the heat treatment working efficiency of wheel body parts is improved. In order to make the technical solution of the present invention better understood, the present invention is further described in detail below with reference to the drawings and the detailed description of the specification, and it should be noted that when an element is referred to as being "fixed" or "disposed" on another element of the clamping and fixing head, it can be directly or indirectly connected to another element. When an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element. The terms "left" and "right" used in this specification to denote orientation are used with reference to a particular structure shown in the drawings, and do not constitute a limitation on the structure.

As shown in the attached figure 1, the automatic feeding and discharging claw of the semi-wheel body for the induction quenching equipment mainly comprises a rotary driving mechanism 1, an up-and-down driving component 2, a mounting support frame 3, a feeding and discharging air cylinder component 4, a movable mounting plate 5, an overturning driving component 6 and an overturning executing mechanism 7, wherein the rotary driving mechanism 1 for driving the mounting support frame 3 to rotate in an angle is arranged on an external mechanical arm, the upper part of the mounting support frame 3 for mounting the up-and-down driving component 2 is arranged on the rotary driving mechanism 1, the up-and-down driving component 2 for driving the movable mounting plate 5 to move up and down is arranged on the mounting support frame 3, the movable mounting plate 5 for mounting the overturning driving component 6 is arranged on the up-and-down driving component 2, the feeding and discharging air cylinder component 4 for feeding and discharging wheel body parts is arranged at the lower side end part of the mounting support frame 3 and connected with the mounting support frame 3, the movable mounting plate 5 is provided with an overturning driving assembly 6 for driving the overturning executing mechanism 7 to overturn, wherein the overturning driving assembly 6 is mounted on the movable mounting plate 5 through a connecting bolt group and fastened with the movable mounting plate 5, and the overturning executing mechanism 7 for the wheel body part is directly mounted on the overturning driving assembly 6 and connected with the overturning driving assembly 6 through the connecting bolt group.

As shown in fig. 2 of the specification, the rotation driving mechanism 1 for driving the mounting support frame 3 to perform angular rotation adjustment includes a rotation driving motor 101, a motor mounting frame 102, a transition connection frame 103, a transmission body 104 and a power output shaft 105, wherein the rotation driving motor 101 for providing power input to the transmission body 104 is fixedly mounted on the motor mounting frame 102, the transmission body 104 is mounted at a power output end of the rotation driving motor 101 and connected with the rotation driving motor 101 through the transition connection frame 103, wherein the power output shaft 105 for outputting power is mounted on the transmission body 104, and a top of the mounting support frame 3 for mounting the vertical driving assembly 2 is fixedly mounted at an outer end of the power output shaft 105.

As shown in fig. 3, the vertical driving assembly 2 for driving the movable mounting plate 5 to move vertically includes a vertical driving motor 201, a vertical adjustment screw 202, a first support bearing 203, a second support bearing 204 and a movable driving block 205, wherein the vertical driving motor 201 for driving the vertical adjustment screw 202 to rotate is fixedly mounted on the mounting support frame 3, the mounting support frame 3 is mounted with the first support bearing 203 and the second support bearing 204 for mounting and supporting the vertical adjustment screw 202, wherein the vertical adjustment screw 202 is mounted at the inner ring of the first support bearing 203 at the upper side thereof and is connected with the inner ring of the first support bearing 203 in an interference fit manner, the vertical adjustment screw 202 is mounted at the inner ring of the second support bearing 204 at the lower side thereof and is connected with the inner ring of the second support bearing 204 in an interference fit manner, and the vertical adjustment screw 202 for driving the movable driving block 205 to move vertically is mounted at the top thereof On the power output shaft 105 of the lower driving motor 201, a T-shaped groove 8 for installing the movable driving block 205 is processed on the installation support frame 3, wherein the lower side of the movable driving block 205 is installed in the T-shaped groove 8 and is in damping sliding contact with the T-shaped groove 8, a threaded through hole for being in threaded fit with the external thread of the up-down adjusting lead screw 202 is processed on the movable driving block 205, and the movable driving block 205 is installed on the up-down adjusting lead screw 202 through the threaded through hole processed on the movable driving block and is in threaded fit connection with the up-down adjusting lead screw 202.

As shown in fig. 4 of the specification, the turnover driving assembly 6 for driving the turnover executing mechanism 7 to perform a turnover operation includes a turnover motor 601, a turnover driving shaft 602, and a connecting mounting plate 603, wherein the turnover motor 601 for driving the turnover driving shaft 602 to rotate is fastened on the movable mounting plate 5 through a connecting bolt set, the turnover motor 601 is mounted with the turnover driving shaft 602 for driving the connecting mounting plate 603 to rotate, the turnover driving shaft 602 is mounted on the turnover motor 601, and one side of the connecting mounting plate 603 for directly driving the turnover executing mechanism 7 to perform a turnover operation is fixedly mounted at an outer end portion of the turnover driving shaft 602.

As shown in fig. 5 of the specification, the overturning actuating mechanism 7 for directly driving a wheel body part to perform overturning operation includes a lifting cylinder 701, a cylinder mounting frame 702 and an overturning cylinder assembly 703, wherein the cylinder mounting frame 702 for mounting the lifting cylinder 701 is fixedly mounted on the connecting mounting plate 603, the lifting cylinder 701 for mounting a cylinder rod is fixedly mounted on the cylinder mounting frame 702 and connected with the cylinder mounting frame 702, the lifting cylinder 701 is provided with a cylinder rod for mounting the overturning cylinder assembly 703, and the overturning cylinder assembly 703 is mounted on the cylinder rod and connected with the cylinder rod. As shown in fig. 6 of the specification, the turning cylinder assembly 703 and the loading and unloading cylinder assembly 4 are the same in structure, and include a clamping cylinder 401, a first cylinder driving rod 402, a second cylinder driving rod 403, a first clamping claw 404 and a second clamping claw 405, wherein the first cylinder driving rod 402 and the second cylinder driving rod 403 are installed on the clamping cylinder 401, the first clamping claw 404 for directly clamping the wheel body part is fixedly installed at the outer end of the first cylinder driving rod 402, the second clamping claw 405 for directly clamping the wheel body part is fixedly installed at the outer end of the second cylinder driving rod 403, and when in use, the first clamping claw 404 and the second clamping claw 405 are matched to clamp the wheel body part.

The working principle of the utility model in specific operation and use is as follows: firstly, an operator can control a mechanical arm main body installed on the mechanical arm main body to move the mechanical arm main body to a wheel body part placing position to be processed through controlling the feeding and discharging air cylinder assembly 4 to clamp a workpiece at the wheel body part placing position, specifically, the operator can control the clamping air cylinder 401 in the feeding and discharging air cylinder assembly 4 to work to drive the first air cylinder driving rod 402 and the second air cylinder driving rod 403 to retract, at the moment, the first clamping claw 404 installed on the first air cylinder driving rod 402 is matched with the second clamping claw 405 installed on the second air cylinder driving rod 403 to clamp the wheel body part, then the mechanical arm main body is controlled by the external controller to move to the feeding station placing position of the wheel body part to be placed, after the operation is completed, the operator can control the induction heating equipment to heat the wheel body part at the feeding station placing position, and the wheel body part needs to be turned over after the heating is completed, at this time, an operator can control the rotation driving mechanism 1 to work, the rotation driving motor 101 in the rotation driving mechanism 1 transmits power into the transmission body 104 and is output by the power output shaft 105, at this time, the power output shaft 105 drives the mounting support frame 3 to rotate 90 degrees counterclockwise, then, the peripheral controller controls the up-down driving motor 201 in the up-down driving assembly 2 to work, the up-down driving motor 201 drives the up-down adjusting screw 202 to rotate clockwise, at this time, the moving driving block 205 mounted on the up-down adjusting screw 202 moves down under the action of the screw pushing force, the moving driving block 205 drives the moving mounting plate 5 mounted thereon to move down, the moving mounting plate 5 drives the turnover driving assembly 6 and the turnover executing mechanism 7 mounted thereon to move down until the turnover cylinder assembly in the turnover executing mechanism 7 moves to the wheel body part 703 at the loading station, at this time, the operator can control the operation of the turnover cylinder assembly 703 to clamp the wheel body part at the place of the feeding station, the controller controls the up-down driving motor 201 in the up-down driving assembly 2 to drive the up-down adjusting screw 202 to rotate counterclockwise, the moving driving block 205 mounted on the up-down adjusting screw 202 moves up under the action of the screw pushing force, the moving driving block 205 drives the moving mounting plate 5 mounted thereon to move up, the moving mounting plate 5 drives the turnover driving assembly 6 and the turnover executing mechanism 7 mounted thereon to move up, the work abdicating (preventing the rotation interference) to the wheel body part is completed, at this time, the operator can control the operation of the turnover motor 601 in the turnover driving assembly 6, the turnover motor 601 drives the turnover driving shaft 602 to rotate clockwise or counterclockwise by 180 degrees, at this time, the turnover driving shaft 602 drives the turnover executing mechanism 7 to rotate by 180 degrees through the connecting mounting plate 603, the turnover cylinder assembly 703 arranged on the turnover executing mechanism 7 rotates 180 degrees at the same time, the turnover cylinder assembly 703 drives the wheel body part clamped on the turnover cylinder assembly 703 to rotate 180 degrees, at the same time, the operator can control the upper and lower driving assemblies 2 to drive the movable mounting plate 5, the turnover driving assembly 6 and the turnover executing mechanism 7 to move downwards to the part loading station, and finally, the turnover cylinder assembly 703 is controlled to place the wheel body part at the part loading station to complete the turnover operation of the part. The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the utility model as claimed.

Claims

1. A semi-wheel automatic feeding and discharging clamping jaw for induction quenching equipment is characterized by comprising a rotary driving mechanism (1), an upper and lower driving component (2), a mounting support frame (3), a feeding and discharging air cylinder component (4), a movable mounting plate (5), a turnover driving component (6) and a turnover executing mechanism (7), wherein the rotary driving mechanism (1) is mounted on an external mechanical arm, the upper part of the mounting support frame (3) is mounted on the rotary driving mechanism (1) and connected with the rotary driving mechanism (1), the upper and lower driving component (2) is mounted on the mounting support frame (3), the movable mounting plate (5) is mounted on the upper and lower driving component (2) and connected with the upper and lower driving component (2), the feeding and discharging air cylinder component (4) is mounted at the lower side end part of the mounting support frame (3) and connected with the mounting support frame (3), the turnover mechanism is characterized in that a turnover driving assembly (6) is arranged on the movable mounting plate (5), the turnover driving assembly (6) is arranged on the movable mounting plate (5) through a connecting bolt group and fastened with the movable mounting plate (5), and a turnover executing mechanism (7) is arranged on the turnover driving assembly (6) and connected with the turnover driving assembly (6) through a connecting bolt group.

2. The automatic feeding and discharging claw of the half wheel body for the induction hardening equipment as claimed in claim 1, it is characterized in that the rotary driving mechanism (1) comprises a rotary driving motor (101), a motor mounting frame (102), a transition connecting frame (103), a speed changer body (104) and a power output shaft (105), the rotary driving motor (101) is arranged on the motor mounting rack (102) and is connected with the motor mounting rack (102), the speed changer body (104) is arranged at the power output end part of the rotary driving motor (101) and is connected with the rotary driving motor (101) through a transition connecting frame (103), a power output shaft (105) for power output is arranged on the speed changer body (104), the top of the mounting support frame (3) is mounted at the outer end part of the power output shaft (105) and is connected with the power output shaft (105).

3. The automatic feeding and discharging claw of the half wheel body for the induction hardening equipment as claimed in claim 1, wherein the up-down driving assembly (2) comprises an up-down driving motor (201), an up-down adjusting lead screw (202), a first supporting bearing (203), a second supporting bearing (204) and a movable driving block (205), the up-down driving motor (201) is installed on the installation supporting frame (3) and fixedly connected with the installation supporting frame (3), the first supporting bearing (203) and the second supporting bearing (204) are installed on the installation supporting frame (3), the upper side of the up-down adjusting lead screw (202) is installed at the bearing inner ring position of the first supporting bearing (203) and is connected with the bearing inner ring of the first supporting bearing (203) in an interference fit manner, the lower side of the up-down adjusting lead screw (202) is installed at the bearing inner ring position of the second supporting bearing (204) and is connected with the bearing inner ring of the second supporting bearing (204) in an interference manner, the top of the up-and-down adjusting screw rod (202) is arranged on the up-and-down driving motor (201) and is connected with the up-and-down driving motor (201), and the movable driving block (205) is arranged on the up-and-down adjusting screw rod (202) and is connected with the up-and-down adjusting screw rod (202) in a threaded fit manner.

4. The automatic feeding and discharging claw of the half wheel body for the induction hardening equipment as claimed in claim 3, wherein the mounting support frame (3) is provided with a T-shaped groove (8), and the lower side of the movable driving block (205) is mounted in the T-shaped groove (8) and in damping sliding contact with the T-shaped groove (8).

5. The automatic feeding and discharging jaw of the half wheel body for the induction hardening equipment as claimed in claim 3, wherein the movable driving block (205) is provided with a threaded through hole, and the movable driving block (205) is mounted on the up-down adjusting screw rod (202) through the threaded through hole provided thereon and is connected with the up-down adjusting screw rod (202) in a threaded fit manner.

6. The automatic feeding and discharging claw of the half wheel body for the induction hardening equipment as claimed in claim 1, wherein the overturning driving component (6) comprises an overturning motor (601), an overturning driving shaft (602) and a connecting mounting plate (603), the overturning motor (601) is mounted on the moving mounting plate (5) and fastened with the moving mounting plate (5) through a connecting bolt set, the overturning driving shaft (602) is mounted on the overturning motor (601), the overturning driving shaft (602) is connected with the overturning motor (601), and one side of the connecting mounting plate (603) is mounted at the outer end part of the overturning driving shaft (602) and fixedly connected with the overturning driving shaft (602).

7. The automatic feeding and discharging claw of the half wheel body for the induction hardening equipment as claimed in claim 6, wherein the overturning actuating mechanism (7) comprises a lifting cylinder (701), a cylinder mounting rack (702) and an overturning cylinder assembly (703), the cylinder mounting rack (702) is mounted on the connecting mounting disk (603) and fixedly connected with the connecting mounting disk (603), the lifting cylinder (701) is mounted on the cylinder mounting rack (702) and connected with the cylinder mounting rack (702), a cylinder rod is mounted on the lifting cylinder (701), and the overturning cylinder assembly (703) is mounted on the cylinder rod and connected with the cylinder rod.

8. The automatic feeding and discharging claw of the half wheel body for the induction hardening equipment as claimed in claim 7, wherein the overturning cylinder assembly (703) and the feeding and discharging cylinder assembly (4) are the same in structure, and comprise a clamping cylinder (401), a first cylinder driving rod (402), a second cylinder driving rod (403), a first clamping claw (404) and a second clamping claw (405), the first cylinder driving rod (402) and the second cylinder driving rod (403) are installed on the clamping cylinder (401) and connected with the clamping cylinder (401), the first clamping claw (404) is installed on the first cylinder driving rod (402) and fixedly connected with the first cylinder driving rod (402), and the second clamping claw (405) is installed on the second cylinder driving rod (403) and fixedly connected with the second cylinder driving rod (403).