CN219704300U - Automatic material changing equipment and electric control system thereof - Google Patents

Abstract

Automatic reloading equipment and electric control system thereof, wherein automatic reloading equipment includes storage device, material moving device, positioner and grabbing device, storage device is used for storing the material including the feed bin, material moving device is used for carrying the material, positioner is used for temporarily storing the material, grabbing device is used for snatching the material and placing in the drilling machine, wherein electric control system includes the controller, motion control module, servo control module and signal exchange module, wherein the controller control motion control module output control signal to signal exchange module, signal exchange module is used for sending control signal to servo control module, servo control module is used for controlling the operation of material moving device, positioner and grabbing device. The automatic control of the electric control system is used for realizing the material changing operation, so that the manual participation is reduced, the material changing efficiency is improved, the material changing stability is ensured, and the labor cost is reduced.

Description

Automatic material changing equipment and electric control system thereof

Technical Field

The present utility model relates to a material changing device of a processing device, and more particularly, to an automatic material changing device for a drilling machine and an electrical control system thereof.

Background

The existing drilling machines mostly adopt a manual material changing mode, namely materials to be processed are placed on the drilling machine through manpower, the materials to be processed are taken out by manpower after the drilling machine is used for drilling the materials, and then new materials which are not processed are placed on a drilling station again for processing, so that reciprocating work is carried out. However, in this way, the manual interference factor is more, for example, the manual material changing time factor and the difference of the manual individuals are affected, so that the working efficiency of material changing is low and unstable, and when the operation is improper, the material is easy to damage. In addition, when the drilling machine factory forms a larger scale, the number of drilling machines is often more than hundred, and the labor cost is also an important factor for restricting the development.

Disclosure of Invention

The utility model mainly aims to provide automatic material changing equipment and an electric control system thereof, which can automatically complete material changing operation of materials needing drilling processing of processing equipment such as a drilling machine, realize the material changing operation of the materials through automatic control of the electric control system, reduce manual participation, thereby improving material changing efficiency, ensuring material changing stability and reducing labor cost.

According to an aspect of the present utility model, there is provided an electrical control system of an automatic material changing apparatus for controlling the automatic material changing apparatus to perform a material changing operation for a processing apparatus, wherein the automatic material changing apparatus includes a storage device including a bin for storing a material, a transfer device for transporting the material, and a gripping device for gripping and placing the material to the processing apparatus, wherein the electrical control system includes:

a controller;

a motion control module;

a servo control module; and

the signal exchange module is used for controlling the motion control module to output control signals to the signal exchange module, the signal exchange module is used for sending the control signals to the servo control module, and the servo control module is used for controlling the operation of the material moving device and the grabbing device.

Preferably, the automatic material changing device further comprises a positioning device, the servo control module is further used for driving the positioning device and the material moving device to enable the material to be transferred between the positioning device and the material moving device, the positioning device is used for temporarily storing the material to be processed, and the grabbing device grabs the material to be processed from the positioning device and loads the material to the processing device.

Preferably, the automatic material changing device further comprises a positioning device, the servo control module is further used for driving the positioning device and the material moving device to enable the material to be transferred between the positioning device and the material moving device, the positioning device is used for temporarily storing the material which is processed by the processing device, and the grabbing device is controlled by the servo module to grab the material to be processed from the material moving device and load the material to the processing device.

Preferably, the servo control module comprises a lifting driving module for driving a lifting power source of a lifting assembly of the material moving device, so as to drive a lifting base of the material moving device to generate lifting displacement.

Preferably, the servo control module comprises a jaw drive module to drive jaws of a material take-off assembly of the material moving device to take off or release the material.

Preferably, the servo control module comprises a material taking driving module for driving a material taking power source of a material taking assembly of the material moving device, so as to drive a material taking conveying element of the material taking assembly to drive a clamping mechanism of the material taking assembly to synchronously move.

Preferably, the servo control module comprises a manipulator drive module to drive the manipulator of the gripping device, thereby driving the manipulator to bring the gripping base and gripping assembly of the gripping device to a position where it grips the material.

Preferably, the servo control module comprises an adjusting power source for adjusting the driving module to drive the adjusting component of the grabbing device, so that the adjusting plate is driven to drive the grabbing component to grab or release the material.

Preferably, the servo control module comprises a bearing driving module for driving a bearing power source of the grabbing assembly so as to enable the bearing plate to move, and therefore the supporting portion of the bearing plate is enabled to move to the bottom side of the material to support the material.

Preferably, the servo control module comprises a pressing driving module for driving a pressing power source of the grabbing assembly to enable the pressing plate to move so that the pressing plate is pressed on the top surface of the material.

Preferably, the automatic positioning reloading device further comprises a positioning camera, and the electrical control system further comprises an image processing module for processing the image information of the positioning camera to determine the relative position between the gripping means and the processing device.

Preferably, the controller and the motion control module are each separate control boards or the controller integrates the motion control module.

The utility model also provides an automatic material changing device for changing materials of processing equipment, wherein the automatic material changing device comprises:

A storage device comprising a silo for storing the material;

a material transferring device for transferring the material; and

and the grabbing device is used for grabbing and placing the materials on the processing equipment.

Preferably, the automatic reloading device further comprises a positioning device, wherein the material is suitable for being transferred between the positioning device and the transferring device, wherein the positioning device is used for temporarily storing the material to be processed, and the grabbing device grabs the material to be processed from the positioning device and loads the material to the processing device.

Preferably, the automatic reloading apparatus further comprises a positioning device, wherein the material is adapted to be transferred between the positioning device and the transferring device, wherein the positioning device is used for temporarily storing the processed material from the processing apparatus, wherein the gripping device grips the material to be processed from the transferring device and feeds the material to the processing apparatus.

Preferably, the material moving device comprises a lifting assembly and a material taking assembly, the material taking assembly is arranged on the lifting assembly to generate lifting displacement under the driving of the lifting assembly, the material taking assembly is used for taking the material from the storage bin, the lifting assembly drives the material taking assembly to a position corresponding to the positioning device, and the material is allowed to be transferred from the material taking assembly to the positioning device.

Preferably, the material taking assembly comprises a clamping mechanism, a material taking driving mechanism and a material taking support, wherein the clamping mechanism is used for clamping the material, and the material taking driving mechanism is used for driving the displacement of the clamping mechanism so as to enable the material to be transferred between the storage bin and the material taking support of the material taking assembly.

Preferably, the gripping mechanism is driven by the take out drive mechanism to a position adjacent the bin to grip the material stored in the bin and is driven by the take out drive mechanism to move away from the bin to completely disengage the material from the bin for complete loading to the take out support of the take out assembly.

This is with novel still providing an automatic reloading equipment, its reload that is used for the material of processing equipment, wherein automatic reloading equipment includes:

a storage device comprising a silo for storing the material;

a material transferring device for transferring the material; and

the grabbing device is used for grabbing and placing the materials on the processing equipment;

wherein the automatic reloading equipment further comprises a positioning device, wherein the material is suitable for being transferred between the positioning device and the material moving device, wherein the positioning device is used for temporarily storing the material to be processed, and the grabbing device grabs the material to be processed from the positioning device and loads the material to the processing equipment;

The material moving device comprises a lifting assembly and a material taking assembly, wherein the material taking assembly is arranged on the lifting assembly to generate lifting displacement under the driving of the lifting assembly, and the material taking assembly is used for extracting the material from the storage bin;

wherein the lift assembly drives the take out assembly to a position corresponding to the positioning device and allows the material to be transferred from the take out assembly to the positioning device;

the material taking assembly comprises a clamping mechanism, a material taking driving mechanism and a material taking support, wherein the clamping mechanism is used for clamping the material, and the material taking driving mechanism is used for driving the displacement of the clamping mechanism so as to enable the material to be transferred between the storage bin and the material taking support of the material taking assembly;

wherein the gripping mechanism is driven by the take-off drive mechanism to a position adjacent the bin to grip the material stored in the bin and is driven by the take-off drive mechanism to move in a direction away from the bin to completely disengage the material from the bin for complete loading to the take-off support of the take-off assembly;

wherein the clamping mechanism comprises a clamping jaw and a clamping jaw power source, and the clamping jaw is suitable for clamping or releasing the material under the drive of the clamping jaw power source;

Wherein the jaw has a clamping groove and the jaw mechanism further comprises a limiting element to prevent an end of the material from excessively entering the clamping groove;

wherein the material taking assembly comprises two clamping mechanisms which are mutually spaced and are used for clamping the end parts of the materials;

the material taking driving mechanism comprises a material taking power source and a material taking transmission unit, wherein the material taking transmission unit is driven by the material taking power source to drive the clamping mechanism to generate displacement close to the storage bin or far away from the storage bin;

the material taking transmission unit comprises an annular material taking transmission element, and the clamping mechanism is connected with the material taking transmission element so as to drive the clamping mechanism to generate displacement when the material taking transmission element is driven to rotate;

the material taking transmission unit further comprises a pair of material taking transmission wheels, a material taking transmission wheel, a material taking control wheel and a material taking driving shaft, wherein two ends of the material taking transmission element are arranged on the pair of material taking transmission wheels, the material taking control wheel is coupled with the material taking power source, and the material taking control wheel is driven by the material taking power source to drive the material taking driving shaft to rotate so as to drive the material taking transmission wheel to rotate, so that one of the material taking transmission wheels is further driven to rotate so as to drive the material taking transmission element to rotate;

Wherein the material taking support comprises a base and a material taking guide rail, wherein the material taking guide rail is arranged on the base and is provided with a material taking guide groove, and a positioning pin on the bottom side of the material is suitable for sliding in the material taking guide groove;

wherein the bin comprises a plurality of mutually spaced storage layers to form a plurality of storage chambers, wherein the storage layers have a gap on a side adjacent to the transfer device so that the gripping mechanism extends into the gap to grip or release the material;

the lifting assembly comprises a lifting base and a lifting driving mechanism, wherein the material taking assembly is supported on the lifting base, and the lifting driving mechanism is used for driving lifting displacement of the lifting base;

the lifting driving mechanism comprises a lifting driving power source, a transmission unit and a driving screw rod, wherein the driving screw rod is connected to the lifting base, and the lifting driving power source drives the transmission unit to enable the transmission unit to drive the driving screw rod to rotate so as to drive lifting displacement of the lifting base;

the lifting assembly comprises a fixing frame, a lifting guide rail is arranged on the fixing frame, and the lifting base is suitable for being driven by the driving screw rod to generate lifting displacement along the lifting guide rail;

The transmission unit comprises a first lifting transmission gear and a second lifting transmission gear, the second lifting transmission gear is connected with the driving screw rod, and the first lifting transmission gear is driven by the lifting driving power source to rotate so as to drive the second lifting transmission gear to rotate, so that the driving screw rod is driven to rotate;

wherein the positioning device comprises a positioning base and a positioning conveying assembly, wherein the positioning conveying assembly is used for transferring the material from the material taking assembly to the positioning base;

the positioning conveying assembly comprises a positioning power source, a positioning driving mechanism and an annular positioning conveying element, wherein the positioning power source drives the positioning driving mechanism so that the positioning driving mechanism drives the annular positioning conveying element to rotate, and the material is driven to be transferred between the material taking assembly and the positioning device;

wherein the positioning device comprises a positioning guide assembly which is provided with a positioning guide groove for guiding the sliding of a positioning pin on the bottom side of the material;

wherein the positioning device is arranged on the top side of the storage bin;

the grabbing device comprises a manipulator, a grabbing base and a plurality of grabbing components, wherein the grabbing components are arranged on the grabbing base, the grabbing base is connected with the manipulator to move under the driving of the manipulator, and the grabbing components are used for grabbing materials;

Wherein the gripping device comprises an adjustment assembly for adjusting the position of the gripping assembly so that the gripping assembly grips or releases the material;

wherein the gripping assembly comprises a gripping element and a holding unit, wherein the gripping element frictionally contacts a side of the material to grip the material, the holding unit comprises a holding power source and a holding plate, wherein the holding plate comprises a support portion, and the holding plate is driven by the holding power source to move the support portion to the bottom side of the material to support the material from the bottom side of the material;

the grabbing component comprises a pressing unit, wherein the pressing unit comprises a pressing power source and a pressing plate, and the pressing plate is driven by the pressing power source to press the top surface of the material;

the adjusting assembly comprises an adjusting power source, an adjusting screw rod and an adjusting plate, the grabbing assembly is connected to the adjusting plate, and the adjusting power source drives the adjusting screw rod to rotate so that the adjusting plate moves, and therefore the position of the adjusting assembly is adjusted.

Drawings

Fig. 1 is a block diagram schematic illustration of the operational relationship between an automatic material changing apparatus and a corresponding processing apparatus according to a preferred embodiment of the present utility model.

Fig. 2 is a block diagram schematic of an automatic material changing apparatus and an electrical control system thereof according to the above-described alternative embodiment of the present utility model.

Fig. 3 is a block diagram schematically illustrating the relationship between a servo control module and a corresponding automatic reloading device of the automatic reloading apparatus according to the above-described alternative embodiment of the utility model.

Fig. 4 is a schematic perspective view of an automatic material changing apparatus according to the above-described alternative embodiment of the present utility model.

Fig. 5 is an enlarged partial view of fig. 4 illustrating a bin and take out assembly of the automatic changing apparatus according to the above-described alternative embodiment of the present utility model.

Fig. 6 is a schematic perspective view of a lifting assembly of the automatic material changing apparatus according to the above-described alternative embodiment of the present utility model.

Fig. 7 is a schematic perspective view of a material taking assembly of the automatic material changing apparatus according to the above-described alternative embodiment of the present utility model.

Fig. 8 is an enlarged partial schematic view of fig. 7 illustrating a take out drive mechanism of a take out assembly of an automatic changing apparatus according to the above-described alternative embodiment of the present utility model.

Fig. 9 is a schematic perspective view of a positioning device of an automatic material changing apparatus according to the above-described alternative embodiment of the present utility model.

Fig. 10 is a schematic perspective view of a gripping device of the automatic material changing apparatus according to the above-described alternative embodiment of the present utility model.

Fig. 11 is a schematic flow chart diagram of an automatic material changing method of the automatic material changing device according to the above-mentioned alternative embodiment of the present utility model.

In the figure: 100. automatic material changing equipment; 1. an automatic material changing device; 2. processing equipment; 3. a material; 10. a storage device; 11. a mounting frame; 111. a support table; 112. a support frame; 12. a storage bin; 121. a frame body; 122. a material storage layer; 123. a storage tank; 124. a notch; 13. an intelligent mobile base; 20. a material transferring device; 21. a lifting assembly; 211. lifting a base; 212. a lifting driving mechanism; 2121. a lifting driving power source; 2122. a transmission unit; 21221. a first lifting transmission gear; 21222. a second lifting transmission gear; 21223. lifting the conveyor belt; 2123. driving a screw rod; 2124. lifting the guide rail; 2125. a lifting limiting element; 2126. lifting the positioning element; 213. a fixing frame; 22. a material taking assembly; 221. a clamping mechanism; 2211. a clamping jaw; 2212. a jaw power source; 2213; clamping grooves 2214; a limiting element; 222. a material taking driving mechanism; 2221. a material taking power source; 2222. a material taking transmission unit; 22221. a take-out conveying element; 22222. a material taking and conveying wheel; 22223. a material taking driving wheel; 22224. a material taking control wheel; 22225. a material taking driving shaft; 22226. a positioning block; 223. a material taking bracket; 2231. a base; 22311. a proximal end; 22312. a distal end; 2232. a material taking guide rail; 22321. a material taking guide groove; 30. a positioning device; 31. positioning a base; 32. positioning the conveying assembly; 321. positioning a power source; 322. a positioning driving mechanism; 3221. positioning a driving shaft; 3222. positioning a driving wheel; 3223. positioning a driven wheel; 323. positioning the transfer element; 33. positioning the guide assembly; 331. positioning the guide element; 332. positioning the guide groove; 333. positioning the blocking element; 334. a guide groove; 40. a gripping device; 41. a manipulator; 42. grabbing a base; 43. a grabbing component; 431. a grasping element; 432. a supporting unit; 4321. supporting a power source; 4322. a bearing plate; 43221. a connection part; 43222. a support part; 433. a pressing unit; 4331. a pressing power source; 4332. a pressing plate; 44. an adjustment assembly; 441. adjusting a power source; 442. adjusting a screw rod; 443. an adjustment plate; 444. adjusting the guide rail; 45. a pressing assembly; 451. pressing a power source; 452. a pressing unit; 46. positioning a camera; 50. an electrical control system; 51. a controller; 52. a motion control module; 53. a servo control module; 54. an image processing module; 55. a signal exchange module; 56. an input module; 57. an output module; 530. a walking driving module; 531. a lifting driving module; 532. a jaw drive module; 533. a material taking driving module; 534. a positioning driving module; 535. a manipulator drive module; 536. a bearing driving module; 537. a pressing driving module; 538. adjusting a driving module; 539. the driving module is pressed.

Detailed Description

The terms and words used in the following description and claims are not limited to literal meanings, but are used only by the inventors to enable a clear and consistent understanding of the application. It will be apparent to those skilled in the art, therefore, that the following description of the various embodiments of the application is provided for illustration only and not for the purpose of limiting the application as defined by the appended claims and their equivalents.

Although ordinal numbers such as "first," "second," etc., will be used to describe various components, those components are not limited herein. The term is used merely to distinguish one component from another. For example, a first component may be referred to as a second component, and likewise, a second component may be referred to as a first component, without departing from the teachings of the present inventive concept. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.

The terminology used herein is for the purpose of describing various embodiments only and is not intended to be limiting. As used herein, the singular is intended to include the plural unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, or groups thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, or groups thereof.

Referring now to fig. 1-11, an automatic changing apparatus 100 according to a preferred embodiment of the present utility model includes an automatic changing device 1 for performing an automatic changing operation of one or more materials 3 to a processing apparatus 2. The automatic material changing device 1 comprises a material storing device 10, a material moving device 20, a positioning device 30 and a grabbing device 40, wherein the material storing device 10 is used for storing materials 3, the material moving device 20 is used for transferring and conveying the materials 3, the positioning device 30 is used for temporarily storing the materials 3, and the grabbing device 40 is used for transferring the materials 3 to be processed to the processing equipment 2 or taking the materials 3 which are processed from the processing equipment 2.

In this preferred embodiment of the utility model, the processing device 2 may be implemented as a drill, the material 3 being a processed workpiece such as a PCB board material to be drilled, and the automatic changing device 100 is used for automatic loading and unloading of the PCB board material of the drill, i.e. to transfer the material 3 (raw material) to be processed onto the drill and/or to remove and temporarily store the processed material 3 (clinker) on the drill to the automatic changing device 100.

As shown in fig. 4, the storage device 10 includes a mounting frame 11 and a bin 12, and the bin 12 is provided to and supported by the mounting frame 11 for storing the material 3. The bin 12 may be fixedly attached to the mounting frame 11 or may be movably disposed on the mounting frame 11 to facilitate removal of the bin 12 from the mounting frame 11.

In this preferred embodiment, the bin 12 is movably disposed on the mounting frame 11, for example, one or more rollers are disposed on the mounting frame 11 on which the bin 12 is slidably disposed, thereby facilitating the mounting and removal of the bin 12 from the mounting frame 11. In this way the material 3 to be processed can be stored in the silo 12 and placed in the mounting frame 11 for providing the processing equipment 2 with the raw meal, or the silo 12 can be removed from the mounting frame 11 in its entirety for easy access to the clinker when the material 3 is stored in the silo 12, all after processing.

More specifically, in the preferred embodiment, the magazine 10 further includes a smart mobile base 13 that is capable of being controlled to move freely, and the mounting bracket 11 is coupled to the smart mobile base 13 to complete the reloading operation as the smart mobile base 13 is moved to a position adjacent to the processing tool 2. The intelligent mobile base 13 may be implemented as a freely movable intelligent transfer robot with a battery, or a movable cart that can be manually pushed, or it may be movable on a preset guide rail on which a wired cable is installed, so as to guide the automatic changing device 100 close to or away from the processing device 2.

The mounting frame 11 may be mounted to the smart mobile base 13 or integrally formed with the smart mobile base 13. The mounting frame 11 includes a support stand 111 and a support stand 112, wherein the support stand 112 is connected to the support stand 111, the bin 12 is disposed on the support stand 111, and the material moving device 20, the positioning device 30 and the gripping device 40 may be disposed on and mounted on the support stand 112 or the support stand 111.

The bin 12 comprises a frame 121 and a plurality of storage layers 122, wherein the plurality of storage layers 122 are connected to the frame 121 at intervals to form a storage chamber 123 between two adjacent storage layers 122, such that the bin 12 has a plurality of storage chambers 123, each storage chamber 123 being for storing one material 3 to be processed or a material 3 to be processed.

In this preferred embodiment, these storage layers 122 are arranged along the height of the silo 12, i.e. the storage chambers 123 are arranged in an adjacent spaced manner above and below each other, so that the silo 12 can use the height space to store a larger amount of material 3 to reduce the length of the silo 12. Each of the material layers 122 may be a separator, a frame, or a plurality of spacers.

As shown in fig. 5 and 6, the material moving device 20 includes a lifting assembly 21 and a material taking assembly 22, wherein the lifting assembly 21 is assembled to the mounting frame 11, such as a supporting table 111 connected and fixed to the mounting frame 11, and the material taking assembly 22 is connected to the lifting assembly 21, so that lifting movement can be generated under the driving of the lifting assembly 21 to convey the material 3.

More specifically, the lifting assembly 21 includes a lifting base 211, a lifting driving mechanism 212 and a fixing frame 213, wherein the lifting base 211 is lifted along the fixing frame 213 by the driving force of the lifting driving mechanism 212 to drive the material taking assembly 22 to move in a synchronous lifting manner.

The lifting driving mechanism 212 may be various structures such as a hydraulic driving mechanism, an air pressure driving mechanism, etc. that can drive the lifting base 211 to perform lifting movement. In this embodiment, the lift drive mechanism 212 includes a lift drive power source 2121, a transmission unit 2122, a drive screw 2123, and two lift rails 2124. The lifting drive power source 2121 is implemented as a drive motor. The transmission unit 2122 includes a first lifting transmission gear 21221 and a second lifting transmission gear 21222 engaged with each other, the first lifting transmission gear 21221 and the second lifting transmission gear 21222 are assembled to opposite sides of the fixing frame 213, respectively, wherein the first lifting transmission gear 21221 is connected to a lifting driving power source 2121, the driving screw 2123 is connected to the second lifting transmission gear 21222, and the driving screw 2123 is connected to the lifting base 211, and the lifting base 211 is also slidably disposed to the two lifting rails 2124. Thus, when the drive motor of the lifting drive power source 2121 rotates, the first lifting drive gear 21221 is driven by the lifting drive power source 2121 to rotate, so as to drive the second lifting drive gear 21222 to rotate, so that the drive screw 2123 drives the lifting base 211 to move, for example, when the drive motor rotates forward, the drive screw 2123 drives the lifting base 211 to move upwards in a lifting manner, and when the drive motor rotates reversely, the drive screw 2123 correspondingly rotates reversely to drive the lifting base 211 to move downwards, so that the lifting movement of the lifting base 211 drives the lifting movement of the material taking assembly 22.

In addition, the transmission unit 2122 may further include a lifting transmission belt 21223 which is engaged with the first lifting transmission gear 21221 and the second lifting transmission gear 21222 so that the first lifting transmission gear 21221 and the second lifting transmission gear 21222 can be rotated in synchronization.

The elevation drive mechanism 212 further includes two elevation limiting members 2125 assembled to the top and bottom sides of the fixing frame 213, respectively, to movably mount and hold both end portions of the driving screw 2123, respectively, and to be able to define the uppermost displacement of the take-out assembly 22 and the lowermost displacement of the elevation base 211.

The lift drive mechanism 212 further includes two sets of lift positioning elements 2126, each set of lift positioning elements 2126 being located at opposite ends of the lift rail 2124, respectively, to define a maximum displacement of the ends of the lift base 211 and to prevent the lift base 211 from disengaging from the corresponding two lift rails 2124.

As shown in fig. 7 and 8, the take-out assembly 22 includes one or more gripping mechanisms 221, a take-out driving mechanism 222, and a take-out support 223, wherein the gripping mechanisms 221 are used for gripping the material 3, the take-out driving mechanism 222 is used for driving the gripping mechanisms 221 to displace, the take-out support 223 serves as a bearing structure, and the gripping mechanisms 221 and the take-out driving mechanisms 222 are supported and supported on the take-out support 223.

In this preferred embodiment, the take-off assembly 22 includes two gripping mechanisms 221, the two gripping mechanisms 221 being spaced apart from one another for gripping both sides of the end of the material 3. As the unprocessed material 3 is removed from the bin 12 of the storage device 10, the material take-off drive mechanism 222 is used to drive the two gripping mechanisms 221 to move in a direction toward the bin 12 to allow the two gripping mechanisms 221 to reach a position adjacent to the bin 12 to grip the unprocessed material 3 stored in the bin 12, and then the material take-off drive mechanism 222 can drive the two gripping mechanisms 221 to move in a direction away from the bin 12 to disengage the unprocessed material 3 from the storage chamber 123 of the bin 12 to subsequently convey the material take-off assembly 22 and the unprocessed material 3 upwardly under the driving force of the lifting assembly 21.

When the material taking assembly 22 is used for conveying the processed material 3 into the bin 12 of the storage device 10, the material taking assembly 22 and the processed material 3 are conveyed downwards to corresponding positions of the empty storage chambers 123 required for storing the processed material 3 under the action of the driving force of the lifting assembly 21, at this time, the two clamping mechanisms 221 continue to clamp the processed material 3, and the material taking driving mechanism 222 is used for driving the two clamping mechanisms 221 to move towards the direction close to the bin 12 so as to allow the two clamping mechanisms 221 to reach positions adjacent to the bin 12 to convey the processed material 3 on the material taking assembly 22 into the corresponding storage chambers 12 of the bin 12, so that the processed material 3 can be temporarily stored in the storage chambers 123.

The positioning device 30 may be used to temporarily store the material 3 to be processed, and when the material taking assembly 22 is lifted to a position corresponding to the positioning device 30, the material taking driving mechanism 222 is used to drive the two gripping mechanisms 221 to move towards a direction approaching to the positioning device 30, so as to allow the two gripping mechanisms 221 to reach a position adjacent to the positioning device 30 to transfer the material 3 to be processed on the material taking assembly 22 to the positioning device 30, so that the gripping device 40 can feed the material 3 to be processed positioned on the positioning device 30 to the processing apparatus 2.

The positioning device 30 may also be used to temporarily store the processed material 3, and when the material taking assembly 22 is lifted to a position corresponding to the positioning device 30, the two gripping mechanisms 221 of the material taking driving mechanism 222 may loosen the material 3 to be processed on the material taking assembly 22 and the two gripping mechanisms 221 may move to keep a suitable distance from the material 3 to be processed, so that the gripping device 40 may feed the material 3 to be processed on the material taking assembly 22 to the processing device 2. The material take-off driving mechanism 222 may be used to drive the two gripping mechanisms 221 to move in a direction approaching the positioning device 30 so as to allow the two gripping mechanisms 221 to reach a position adjacent to the positioning device 30 to grip the processed material 3 on the positioning device 30 and to move in a direction away from the positioning device 30 so as to load the processed material 3 onto the material moving device 20, and further to convey the processed material 3 into the corresponding storage chamber 123 of the bin 12, so that the processed material 3 may be temporarily stored in the storage chamber 123.

The gripping mechanisms 221 may be implemented as various structures capable of gripping the material 3, and may be, for example, a vacuum suction unit, a hydraulic driving jaw, an air pressure driving jaw, a motor driving jaw, or the like. In this preferred embodiment, as shown in fig. 8, each gripping mechanism 221 includes one gripping jaw 2211 and one gripping jaw power source 2212, for example, the gripping jaw power source 2212 may be a driving cylinder, which moves two parts of the gripping jaw 2211 toward and away from each other by pneumatic driving, thereby changing the size of the gripping groove 2213 of the gripping jaw 2211, thereby gripping the material 3 or releasing the material 3.

In addition, each gripping mechanism 221 includes a stop member 2214 connected to the jaw 2211 and located laterally of the slot 2213, the end of the stop member 2214 being adapted to prevent the end of the material 3 from entering the slot 2213 excessively and being trapped in the gripping mechanism 221.

The material taking driving mechanism 222 of the material taking assembly 22 includes a material taking power source 2221 and a material taking driving unit 2222, wherein the material taking driving unit 2222 is used for driving each gripping mechanism 221 to move back and forth under the driving action of the material taking power source 2221. It will be appreciated that the take-off power source 2221 is implemented in various configurations capable of providing power, such as a hydraulic cylinder, an air cylinder, or a drive motor, and in this embodiment, the take-off power source 2221 is implemented as a servo motor that can be rotated in a forward and reverse direction to drive the take-off drive unit 2222 for driving the forward and reverse displacement of the gripping mechanism 221.

In this embodiment, the take-off assembly 22 includes two gripping mechanisms 221, and thus the take-off drive unit 2222 is used to synchronously drive the displacement of the two gripping mechanisms 221. Specifically, the material taking transmission unit 2222 includes two material taking transmission elements 22221, two pairs of material taking driving wheels 22222, two material taking driving wheels 22223, one material taking control wheel 22224 and one material taking driving shaft 22225, and two ends of the material taking driving shaft 22225 are movably mounted to two positioning blocks 22226. Wherein each gripping mechanism 221 is coupled to a corresponding one of the take-off conveyor elements 22221 so as to be capable of being displaced by a corresponding conveyor element 2221, wherein each take-off conveyor element 22221 may be a conveyor belt, conveyor chain, or the like. The material taking and conveying element 22221 is annular, two ends of the material taking and conveying element are sleeved on a pair of material taking and driving wheels 22222, wherein a driving wheel adjacent to the material taking and driving wheel 22223 serves as a driving wheel and can be driven by the material taking and driving wheel 2223 to rotate, and the material taking and conveying control wheel 22224 is coupled to the material taking and driving power source 2221, and is connected with the driving power source 2221 through a conveying belt or a meshed gear, so as to be driven by the material taking and driving power source 2221 to rotate. When the control wheel 22224 rotates, the take-off drive shaft 22225 is driven to rotate, thereby driving the take-off drive wheel 22223 to rotate, thereby further driving the take-off drive wheel 22222 and the take-off transport element 22221 to rotate, thereby driving the gripping mechanism 221 to move. It will be appreciated that the above configuration of the take-off drive unit 2222 is by way of example only and not limiting of the utility model, and that the utility model may be designed with the length of the drive gear system required for practical use, as well as other possible drive configurations.

In this embodiment, the take-off bracket 223 includes a base 2231 and a take-off track 2232, wherein the base 2231 is used to mount and support the take-off drive mechanism 222. Two take-off conveying members 22221 extend along the length of the base 2231, and a pair of take-off drive wheels 22222 are provided at both ends of the base 2231. More specifically, the base 2231 is proximal 22311 at one end adjacent the mount 213 and distal 22312 at one end adjacent the bin 12, and the two take-off conveyor elements 22221 are used to drive the two gripping mechanisms 221 toward the distal end 22312 of the base 2231 adjacent the bin 12 or toward the opposite proximal end 22311 of the base 2231, respectively, to drive the gripping mechanisms 221 to a position adjacent the bin 12 to grip the material 3 or to grip the material 3 and thereafter drive the material 3 to the take-off assembly 22.

In the utility model, the material 3 is implemented as a PCB plate material, and the bottom side of the material is provided with a locating pin. A guide bar may be provided in the storage chamber 123 of the silo 12 and provided with a groove for guiding the movement of the locating pin of the material 3 and thus the movement of the material 3.

As shown in fig. 5, in this embodiment the storage layer 121 of the bin 12 is implemented as a partition plate, having two indentations 124 on the side facing the take out assembly 22, and when the material 3 is stored in the corresponding storage chamber 123 of the bin 12 and is supplied for the take out assembly 22 to be extracted, the jaws 2211 of the two gripping mechanisms 221, when driven to take out material from the storage chamber 123, can each enter into an indentation 124, thereby facilitating the extension of the jaws 2211 into said bin 12 for gripping the end of the material 3.

It will be appreciated that the material storage layer 121 of the bin 12 may also be configured to facilitate the gripping operation of the gripping mechanism 221. For example, the depth dimension of the stock material layer 121 is slightly smaller than the length dimension of the stock material 3, such that when each stock material 3 is stored in a corresponding stock material chamber 123, the end of the stock material 3 may extend out of the corresponding stock material chamber 123, such that there is a gap between two adjacent stock materials 3, such that the gripping jaw 2211 may extend into the corresponding gap for gripping the end of the stock material 3, i.e. in this embodiment the gripping jaw 2211 does not extend into the stock material chamber 123.

A take out rail 2232 is provided raised on the base 2231 for supporting and guiding the sliding movement of the material 3. More specifically, the take-off track 2232 has a take-off guide slot 22321, and the locating pin of the material 3 is slidable in the take-off guide slot 22321 of the take-off track 2232 so that the take-off track 2232 can guide the movement of the material 3.

The jaws 2211 of the two gripping mechanisms 221 are adapted in position to enable the material 3 to be processed to be supported on the take out rail 2232 as the jaws 2211 grip the material 3 to be processed stored in the bin 12 and slide along the take out rail 2232 and the dowel slides in the take out guide 22321 as the gripping mechanisms 221 are driven by the take out drive mechanism 222 toward the proximal end 22311 of the base 2231 until the material 3 to be processed is completely disengaged from the bin 12 and fed to the take out rail 2232 of the take out assembly 22. The clamping jaws 2211 of the two clamping mechanisms 221 clamp the processed material 3 as the clamping mechanisms 221 are driven by the material take out driving mechanism 222 toward the distal end 22311 of the base 2231 and toward the bin 12 as the clamping mechanisms 221 convey the processed material 3 toward the bin 12, the processed material 3 slides along the material take out guide 2232 and the locating pins slide in the material take out guide 22321 until the processed material 3 is completely disengaged from the material take out guide 2232 and transferred into the storage chamber 123 of the bin 12, at which time the clamping jaws 2211 release the material 3 and are driven by the material take out driving mechanism 222 away from the bin 12. Accordingly, in the above two processes, the material taking power source 2221 implemented as a servo motor drives the material taking transmission unit 2222 by controlling the forward and reverse rotation manner, so as to drive the two material taking transmission elements 22221 to forward and reverse rotation to drive the corresponding gripping mechanism 221 to move toward the direction of the storage bin 12 or move toward the direction away from the storage bin 12.

The positioning device 30 may be used to place material 3 to be processed from the take out assembly 22 or finished material 3 from the processing apparatus 2. In this embodiment, the positioning device 30 is embodied for placing the material 3 to be processed for the gripping device 40 to grip for subsequent feeding to the processing apparatus 2.

More specifically, referring to fig. 4 and 9, the positioning device 30 includes a positioning base 31, a positioning conveyor assembly 32 and a positioning guide assembly 33, wherein the positioning conveyor assembly 32 and the positioning guide assembly 33 are supported to the positioning base 31 for transferring the material 3 between the positioning device 30 and the take-out assembly 22 and guiding movement of the material 3 to move the material 3 to a desired position, respectively.

The positioning device 30 is connected to the mounting frame 11 of the storage device 10 and is located above the storage bin 12, so that the positioning device 30 and the storage bin 12 are overlapped along the height direction, and after the material 3 to be processed is extracted from the storage bin 12 by the moving and loading device 20, the material 3 to be processed can be conveyed to a position capable of being transferred to the positioning device 30 only through the lifting assembly 21 through lifting movement, and therefore the integration level of the whole automatic material changing equipment 100 is improved, and the occupied length space is reduced.

The positioning conveyor assembly 32 includes a positioning power source 321, a positioning drive mechanism 322, and one or more positioning conveyor elements 323. The positioning power source 32 may be of various structures capable of providing power, for example, may be a hydraulic cylinder, an air cylinder or a driving motor, and in this embodiment, the positioning power source 321 is implemented as a servo motor, and the positioning driving mechanism 322 is driven by the positioning power source 32 to be capable of driving the positioning conveying element 323 to rotate, so as to drive the movement of the material 3.

In this embodiment, the positioning conveyor assembly 32 comprises two positioning conveyor elements 323 arranged at a distance from each other and in parallel, which can each be embodied as a conveyor belt or a conveyor chain for conveying the material 3. The positioning driving mechanism 322 includes a positioning driving shaft 3221, two positioning driving wheels 3222 and two positioning driven wheels 3223, wherein two ends of the two positioning transmission elements 323 are respectively sleeved on one positioning driving wheel 3222 and one positioning driven wheel 3223, that is, one positioning driving wheel 3222 and one positioning driven wheel 3223 are used as a pair of control wheels to drive the corresponding positioning transmission elements 323 to rotate.

The positioning driving shaft 3221 is connected to the positioning driving shaft 321, and the positioning driving wheel 3222 is connected to the positioning driving shaft 3221, so that when the servo motor of the positioning driving shaft 321 rotates, the positioning driving shaft 3221 rotates to drive the positioning driving wheel 3222 to rotate, thereby driving the corresponding positioning conveying element 323 to rotate around the positioning driving wheel 3222 and the positioning driven wheel 3223, and the material 3 can be conveyed by the two positioning conveying elements 323 when reaching the positioning conveying element 323.

The positioning guide assembly 33 comprises two positioning guide elements 331 forming a positioning guide groove 332 therebetween, the positioning pin of the material 3 being adapted to slide in the positioning guide groove 332 between the two positioning guide elements 331, whereby the positioning guide assembly 33 is capable of guiding the movement of the material 3 and eventually the position of the material 3. The positioning guide assembly 33 further comprises a positioning blocking element 333 at the end of the positioning guide groove 332 remote from the material moving means 20 for blocking further movement of the material 3 for determining the holding position of the material 3.

The two positioning guide elements 331 may form a guide groove 334 at the proximal end of the positioning guide groove 332 adjacent to the material moving device 20, which has a decreasing caliber in the direction towards the positioning guide groove 332, so as to facilitate the entry of the pin guiding the material 3 into the positioning guide groove 332.

It will be appreciated that the two positioning guide elements 331 may be implemented as positioning plates and may be further provided with driving structures for driving the two positioning guide elements 331 to displace up and down, so as to be able to lift the material 3 upwards for facilitating the gripping operation of the gripping device 40.

When the lifting assembly 21 of the transfer device 20 conveys the take-out assembly 22 upward to a position corresponding to the positioning device 30, the take-out guide grooves 22321 of the take-out guide rails 2232 of the take-out support 223 of the take-out assembly 22 are aligned with the positioning guide grooves 332 of the positioning device 30. The two gripping mechanisms 221 hold the material 3 under the driving action of the material taking driving mechanism 222 and move the material 3 towards the positioning device 30, the positioning pins on the bottom side of the material 3 to be processed slide in the material taking guide grooves 22321, enter the positioning guide grooves 332 through the guide grooves 334 of the positioning device 30, so that the material 3 moves under the driving action of the two positioning conveying elements 323 which are driven to rotate, and the positioning pin bowls on the bottom side of the material 3 slide in the positioning guide grooves 332 of the positioning device 30 until the front end of the material 3 reaches the positioning blocking element 333 and the material 3 is completely separated from the material taking assembly 22 and is fed to the positioning device 30, so that the gripping device 40 transfers the material 3 to be processed from the positioning device 30 to the processing equipment 2.

When the positioning device 30 is used to temporarily store the processed material 3 from the processing apparatus 2, the two positioning and conveying elements 323 are driven to rotate reversely, the processed material 3 can be moved towards the material taking assembly 22 of the material moving device 20, the positioning pins on the bottom side of the processed material 3 slide in the positioning guide grooves 332, the gripping mechanism 221 of the material taking assembly 22 can grip the processed material 3 and pull the processed material 3 in a clamping manner under the driving action of the material taking driving mechanism 222, and the positioning pins on the bottom side of the processed material 3 slide in the material taking guide grooves 22321 of the material taking guide rail 2232 of the material taking assembly 22, so that the processed material 3 is transferred to the material taking assembly 22, and is further used for conveying the processed material 3 to the storage bin 12.

It will be appreciated by those skilled in the art that when the transfer device 20 is configured with a plurality of the take-off assemblies 22, the plurality of take-off assemblies 22 may simultaneously withdraw a plurality of the materials 3 from the bin 12, and the plurality of take-off assemblies 22 may sequentially reach a position aligned with the positioning device 30 to transfer the materials 3 to the positioning device 30 for grasping by the grasping device 40 for loading to the processing apparatus 2.

The gripping device 40 of the present utility model is a device for automatically gripping the material 3 to transfer between the automatic changing apparatus 100 and the processing apparatus 2, and may be various intelligent robot devices or vacuum suction devices. In this preferred embodiment of the present utility model, as shown in fig. 10, the gripping device 40 includes a robot 41, a gripping base 42, one or more gripping members 43 and an adjusting member 44, wherein the gripping base 42 is mounted on the robot 41, the robot may be a cooperative robot or an industrial robot, the gripping base 42 is driven by the robot 41 to perform a lifting motion, a horizontal motion or a tilting motion, the gripping members 43 are used for gripping the material 3, and the adjusting member 44 is provided on the gripping base 42 for adjusting the gripping position of the gripping members 43 so that the gripping members 43 grip the material 3 or release the material 3, and is conveniently adapted to the material 3 having different sizes.

In this preferred embodiment, the gripping device 40 comprises a plurality of gripping elements 43, such as four gripping elements 43, each gripping element 43 comprising a gripping element 431, a holding unit 432 and a pressing unit 433, wherein the gripping element 431 is adapted to grip the material 3, the holding unit 432 is adapted to hold the material 3 from the material 3, and the pressing unit 433 is adapted to press-fit the top side of the material 3.

More specifically, the sides of the gripping elements 431 are provided with friction-increasing stripes so that the sides of the material 3 can be abutted by the sides of the four gripping elements 431 to be firmly held inside the four gripping elements 431. Each of the bearing units 432 includes a bearing power source 4321 and a bearing plate 4322, wherein the bearing plate 4322 includes a connection part 43221 and a support part 43222, wherein the support part 43222 is laterally extended and connected to the connection part 43221, and the bearing plate 4322 is rotatable under the bearing power source 4321 so that the support part 43222 is positioned under the material 3 to support the material 3 from the bottom side of the material 3. The supporting power source 4321 may be various hydraulic driving power sources, pneumatic driving power sources, or driving motors, etc., in this embodiment, the supporting power source 4321 is implemented as a driving cylinder to drive the supporting plate 4322 to rotate, for example, 180 degrees, so that the supporting portion 43222 can be driven to rotate below the material 3 to support the material 3 after the gripping element 431 grips the material 3.

Each pressing unit 433 includes a pressing power source 4331 and a pressing plate 4332, the pressing power source 4331 may be various hydraulic driving power sources, pneumatic driving power sources, driving motors, or the like, and in this embodiment, the pressing power source 4331 is implemented as a driving cylinder which drives the pressing plate 4332 to move so as to press the pressing plate 4332 against the top surface of the material 3 after the gripping elements 431 grip the material 3, so that the side surface of the material 3 is gripped by the four gripping elements 431, the bottom side of the material 3 is supported by the supporting unit 432, and the top surface of the material 3 is pressed by the pressing plate 4332, thereby allowing the material 3 to be stably held in the gripping device 40. It will be appreciated that the pressure plate 4332 may be provided with a cushion so that the pressure plate 4332 may be resiliently pressed against the top surface of the material 3 to prevent the material 3 from being crushed.

In this preferred embodiment, the adjustment assembly 44 comprises an adjustment power source 441, one or more adjustment screw rods 442, one or more adjustment plates 443, wherein the adjustment assembly 44 is used to adjust the position of the gripping elements 431 of the gripping assembly 43 so that the four gripping elements 431 can grip or release the material 3 under the influence of the adjustment assembly 44, and the four gripping elements 431 can define a gripping size for the material 3 so that the gripping assembly 43 can accommodate different sizes of material 3.

More specifically, the adjusting assembly 44 includes two adjusting screws 442 and two adjusting plates 443, two grabbing assemblies 43 are respectively mounted at two ends of each adjusting plate 443, each adjusting screw 442 is connected to a corresponding adjusting plate 443, and the corresponding adjusting plate 443 is driven to move under the driving action of the adjusting power source 441 and through the transmission action of a suitable transmission mechanism, so as to drive the two grabbing assemblies 43 to move inwards or outwards, thereby adjusting the grabbing positions of the grabbing assemblies 43. The adjustment power source 441 may be various hydraulic drive power sources, pneumatic drive power sources, drive motors, or the like, and in this embodiment, the adjustment power source 441 is implemented as a drive motor.

In addition, the adjusting assembly 44 further includes two adjusting rails 444 disposed on the grabbing base 42, and the two adjusting plates 443 are disposed on the two adjusting rails 444, respectively, so that the two adjusting rails 444 slide along the corresponding adjusting rails 444 in the horizontal direction, and the adjusting rails 444 guide the sliding track of the corresponding adjusting plates 443.

It will be appreciated that the two adjustment plates 443 are configured to move in opposite directions, i.e. simultaneously in directions towards or away from each other, when driven by the adjustment power source 441, thereby adjusting the distance between the two pairs of gripping assemblies 43 to achieve gripping and release of the material 3 by the four gripping assemblies 43.

The gripping device 40 may further comprise two pressing assemblies 45, each pressing assembly 45 comprising a pressing power source 451 and a pressing unit 452, the pressing power source 451 may be various hydraulic driving power sources, pneumatic driving power sources or driving motors, etc., and in this embodiment, the pressing power source 451 is implemented as a driving cylinder to drive the pressing unit 452 to extend so as to press against the top surface of the material 3.

After the grabbing device 40 transfers the material 3 to be processed to the processing equipment 2, the grabbing component 43 releases the material 3 to be processed, and the pressing component 45 is simultaneously started at the moment to drive the pressing unit 452 to press the top surface of the material 3, so that the material 3 to be processed, which is slightly deformed due to the clamping of the grabbing component 43, is quickly restored to be in a ready state to complete the subsequent drilling processing technology.

The pressing unit 452 may be implemented as a pressing plate, and may be optionally configured with a cushion pad, so that the pressing unit 452 may be elastically pressed against the top surface of the material 3 to prevent the material 3 from being crushed.

The gripping device 40 further comprises a positioning camera 46 mounted to the gripping base 42 for capturing image information in real time to provide positioning for the gripping device 40 to take and place the material 3. More specifically, the positioning camera 46 may determine the relative positional relationship between the gripping device 40 and the processing apparatus 2 and the take out assembly 22, thereby directing the gripping device 40 to load the material 3 to be processed to the processing station of the processing apparatus 2, or to unload the material 3 that has completed processing to the positioning device 30 of the automatic changing apparatus 100 or to the take out rack 223 of the take out assembly 22.

The automatic material changing apparatus 100 further comprises an electrical control system 50 comprising a controller 51, a motion control module 52, a servo control module 53, an image processing module 54, a signal exchange module 55, an input module 56 and an output module 57, wherein the controller 51 may be various types of circuit control boards, such as a PLC (Programmable Logic Controller, programmable controller) or other control boards with I/O input/output, data communication, logic control, the motion control module 52 and the servo control module 53 are used to control the operation of the material moving device 20, the positioning device 30 and the gripping device 40, the image processing module 54 is used to process the image information obtained by the positioning camera 46, the signal exchange module 55 is used to send the control instructions of the controller 51 to other modules, and the input module 56 and the output module 57 are used to realize the input and output of information between the modules.

In this preferred embodiment of the present utility model, the controller 51 controls the motion control module 52 to output control signals to the signal exchange module 55, and the signal exchange module 55 transmits the control signals to the servo control module 53, so that the servo control module 53 serves to control the operations of the material moving apparatus 20, the positioning apparatus 30, and the gripping apparatus 40. The controller 51 may be independent of the motion control module 52, the motion molding module 52 may be replaced with a motion control board card, or the controller 51 may be integrally integrated with the motion control module 52.

As shown in fig. 3, the servo control module 53 further includes a lift drive module 531, a jaw drive module 532, a take-up drive module 533, a positioning drive module 534, a robot drive module 535, a hold drive module 536, a press drive module 537, an adjustment drive module 538, and a press drive module 539. The lifting driving module 531 is used for driving and controlling a lifting driving power source 2121 of the lifting assembly 21 of the material moving device 20, which is implemented as a driving motor, so as to control the lifting movement of the lifting base 211 of the lifting assembly 21; the jaw drive module 532 is configured to drive and control a jaw power source 2212 of the material taking assembly 22 of the material moving device 20, which is implemented as a driving cylinder, so as to control the clamping and releasing operations of the jaws 2211 on the material 3; the material taking driving module 533 is configured to drive and control the material taking power source 2221 of the material taking assembly 22 of the material moving device 20, which is implemented as a driving motor, so as to drive the material taking conveying element 22221 to rotate, so as to drive the gripping mechanism 221 to move; the positioning driving module 534 is used for driving and controlling the positioning power source 321 of the positioning device 30, which is implemented as a driving motor, so as to drive the rotation of the positioning conveying element 323, so as to convey the material 3 between the positioning device 30 and the material taking assembly 22; the robot driving module 535 is used to drive and control the robot 41 of the gripping device 40; the bearing driving module 536 is configured to drive and control the bearing power source 4321 of the gripping assembly 43 of the gripping device 40, which is implemented as a driving motor, so as to control the rotation of the bearing plate 4322, so that the supporting portion 43222 can be used to support the material 3; the pressing driving module 537 is configured to drive and control the pressing power source 4331 of the gripping assembly 43 of the gripping device 40, which is implemented as a driving cylinder, so as to drive the pressing plate 4332 to move to press the top surface of the material 3; the adjustment driving module 538 is used for driving and controlling the adjustment power source 441 of the adjustment assembly 44 of the gripping device 40, which is implemented as a driving motor, so as to drive the movement of the adjustment plate 443 to adjust the position of the gripping assembly 43; the pressing driving module 539 is used for driving and controlling the pressing power source 451 of the pressing assembly 45 of the gripping device 40, thereby driving the pressing unit 452 to move, so that the pressing unit 452 can be used for pressing the top surface of the material 3.

When the automatic changing device 100 of the present utility model further includes the intelligent moving base 13, the servo control module 53 further includes a traveling driving module 530 for driving and controlling the movement of the intelligent moving base 13, thereby driving the movement of the storage device 10 to move the automatic changing device 100 to a position adjacent to the processing device 2 or to a position far from the processing device 2.

The utility model correspondingly provides an automatic material changing method, which is used for feeding the material 3 to be processed temporarily stored in the automatic material changing equipment 100, namely raw material, to the processing equipment 2 for the processing equipment 2 to process the material 3 to be processed, such as drilling the PCB board; when the processed material 3, i.e. clinker, is still present in the processing station of the processing device 2, the automatic material changing method is also used for taking away and conveying the processed material 3 on the processing device 2 into the storage bin 12 in the automatic material changing device 100 for temporary storage.

Referring to fig. 11, a specific flow of the automatic material changing method of the present utility model is illustrated. The automatic material changing method comprises a raw material taking step, a raw material conveying step, an upper raw material step, a lower clinker step and a clinker storing step. The material taking assembly 22 takes out the material 3 to be processed from the stock bin 12 in the raw material taking step; in the step of conveying raw materials, the lifting assembly 21 of the material moving device 20 drives the material taking assembly 22 to displace so as to reach a material loading waiting position; in the step of feeding raw materials, the grabbing device 40 loads the materials 3 to be processed on the automatic material changing device 100 to the processing device 2; in the clinker unloading step, the gripping means 40 transfer the finished material 3 on the processing plant 2 to the automatic changing plant 100; in the clinker storing step, the processed material 3 is transferred to the storage bin 12 of the storage device 10 for temporary storage through the material transferring device 20 of the automatic material changing device 100.

More specifically, in the raw material taking step, the control end of the processing apparatus 2 transmits a signal to the controller 51 through the signal exchange module 55 of the electrical control system 50 of the automatic material changing apparatus 100, so as to start the raw material taking step, the controller 51 controls the motion control module 52 to output a control signal to the signal exchange module 55, the signal exchange module 55 sends the control signal to the servo control module 53, and the lifting driving module 531 of the servo control module 53 controls the lifting driving power source 2121 of the lifting assembly 21 of the material moving device 20 to start to operate, so that the transmission screw 2123 is driven to rotate by the transmission unit 2122, so that the lifting base 211 moves along the lifting guide rail 2124 to enable the material taking assembly 22 to reach a position corresponding to the predetermined layer of the material storage room 123 of the bin 12 of the material storage device 10. Meanwhile, the material taking driving module 533 of the servo control module 53 controls the material taking power source 2221 of the material taking assembly 22 of the material moving device 20 to start working, so as to drive the material taking transmission unit 2222 to rotate the material taking transmission element 22221, and thus, the material taking transmission element 22221 drives the clamping mechanism 221 to move towards the direction of the material bin 12 to reach the material taking position. The jaw drive module 532 of the servo control module 53 then drives the jaw power source 2212 of the gripping mechanism 221 of the take-off assembly 22 to operate to control the gripping action of the jaws 2211 of the gripping mechanism 221 so that the jaws 211 grip a material 3 to be processed stored in the storage chamber 123 of the bin 12. Finally, the material taking driving module 533 of the servo control module 53 controls the material taking power source 2221 of the material taking assembly 22 of the material taking device 20 to continue to operate, so as to drive the material taking transmission unit 2222 to enable the material taking transmission element 22221 to rotate reversely, so that the material taking transmission element 22221 drives the clamping mechanism 221 to move towards a direction away from the storage bin 12, so that the material 3 to be processed in the storage chamber 123 in the storage bin 12 is completely separated from the storage bin 12 and reaches the material taking guide rail 2232 of the material taking support 223 of the material taking assembly 22, and during the moving process of the material 3, the positioning pin on the bottom side of the material 3 slides in the material taking guide groove 22321 of the material taking guide rail 2232 of the material taking support 223 of the material taking assembly 22, so that the moving process of the material 3 to be processed is limited and guided by the material taking guide rail 2232.

In the raw material conveying step, the lifting driving module 531 of the servo control module 53 controls the lifting driving power source 2121 of the lifting assembly 21 of the material moving device 20 to start working, so that the transmission screw 2123 is driven to rotate by the transmission unit 2122, and the lifting base 211 moves along the lifting guide rail 2124 to reach the height position ready for feeding. The gripping device 40 may directly grip the material 3 to be processed from the material taking assembly 22 and feed the material to the processing station of the processing apparatus 2, and at this time, the jaw driving module 532 of the servo control module 53 drives the jaw power source 2212 of the gripping mechanism 221 of the material taking assembly 22 to control the releasing action of the jaw 2211 of the gripping mechanism 221, so that the jaw 211 releases the material 3 to be processed clamped by the jaw 2211. Then, the material taking driving module 533 of the servo control module 53 controls the material taking power source 2221 of the material taking assembly 22 of the material moving device 20 to continue to operate, so as to drive the material taking transmission unit 2222 to reversely rotate the material taking transmission element 22221, so that the material taking transmission element 22221 drives the gripping mechanism 221 to be away from the material 3 to be processed, so that the gripping mechanism 221 is kept at a predetermined distance from the material 3 to be processed, and the gripping device 40 is used for directly gripping the material 3 to be processed from the material taking assembly 22.

When the gripping device 40 grips the material 3 to be processed on the positioning device 30, in the step of conveying raw materials, the material taking driving module 533 of the servo control module 53 controls the material taking power source 2221 of the material taking assembly 22 of the material moving device 20 to start working, so as to drive the material taking transmission unit 2222 to rotate the material taking transmission element 22221, so that the material taking transmission element 22221 drives the gripping mechanism 221 to move towards the positioning device 30 to enable at least a part of the material 3 to be processed to be transferred to the positioning device 30, and at the moment, the gripping jaw driving module 532 of the servo control module 53 drives the gripping jaw power source 2212 of the gripping mechanism 221 of the material taking assembly 22 to control the releasing action of the gripping jaws 2211 of the gripping mechanism 221, so that the gripping jaws 211 release the material 3 to be processed, which is gripped by the gripping jaws 2211. Then, the positioning driving module 534 of the servo control module 53 drives the positioning power source 321 of the positioning device 30 to start working, so as to drive the positioning mechanism 322 to rotate the positioning conveying element 323, so as to move the material 3 to be processed, which is fed to the positioning device 30, to be completely separated from the material taking assembly 22 and be completely fed to the positioning device 30. During the movement of the material 3 to be processed, the positioning pins on the bottom side of the material 3 to be processed enter the positioning guide grooves 332 from the material taking guide grooves 22321 of the material taking guide rail 2232 of the material taking support 223 of the material taking assembly 22 via the guide grooves 334 of the positioning guide assembly 33 of the positioning device 30 until being blocked by the positioning blocking element 333 so that the material 3 to be processed is fed to the desired position of the positioning device 30.

When there is still unremoved finished material 3 on the processing station of the processing equipment 2 that needs to be discharged, the automatic material changing method executes the clinker discharging step first, and then executes the raw material charging step. When the processed material 3 is not finished at the processing station of the processing equipment 2 which needs to be discharged, the automatic material changing method can directly execute the raw material feeding step.

In the step of sizing, an image is captured by the positioning camera 46 and the relative positional relationship between the gripping device 40 and the processing apparatus 2 is determined by the image processing module 54. Then, the manipulator driving module 535 of the servo control module 53 drives the manipulator 41 to reach the position of the material 3 to be processed, and the manipulator 41 drives the grabbing base 42 to move so that the grabbing elements 431 of the grabbing component 43 grab the material 3 to be processed from the position 30. In this process, the adjustment driving module 538 of the servo control module 53 drives the adjustment power source 441 to start working, so as to drive the adjustment plate 443 to move through the adjustment screw 442, thereby driving the grabbing component 43 to move, so that the grabbing element 431 can firmly clamp the side edge of the material 3 to be processed. Then, the supporting driving module 536 of the servo control module 53 drives the supporting power source 4321 of the grabbing component 43 to start working, so as to drive the carrier plate 4322 to rotate, and the supporting part 43222 rotates to the bottom side of the material 3 to be processed to support the material 3 to be processed; and the pressing driving module 537 of the servo control module 53 drives the pressing power source 4331 of the grabbing component 43 to start working so as to drive the pressing plate 4322 to press the top surface of the material 3 to be processed. Finally, the manipulator driving module 535 of the servo control module 53 drives the manipulator 41 to drive the grabbing base 42 to move, so that the grabbing component 43 grabs the material 3 to be processed and releases the material 3 to be processed to the processing station of the processing device 2. When the material 3 to be processed is released by the grabbing component 43, the pressing driving module 539 of the servo control module 53 drives the pressing power source 451 to start working, so as to drive the pressing unit 452 to press the pressing unit 452 onto the top surface of the material 3 to be processed, so that the material 3 to be processed is quickly restored from the micro deformation and ready for processing.

It will be appreciated that the positioning device 30 may be used to temporarily store the processed material 3 from the processing apparatus 2 when the material 3 to be processed may also be directly gripped by the gripping device 40 from the material taking assembly 22 to the processing station of the processing apparatus 2, i.e. the processed material 3 of the processing apparatus 2 is blanked to the positioning device 30 for temporary storage.

In the clinker removal step of this preferred embodiment of the present utility model, the finished material 3 at the processing station of the processing plant 2 is fed to the take out assembly 22 by means of the gripping means 40. More specifically, the manipulator driving module 535 of the servo control module 53 drives the manipulator 41 to drive the grabbing base 42 to move so that the grabbing component 43 grabs the processed material 3 from the processing station of the processing apparatus 2 and moves to above the material taking component 22, and when the material 3 to be processed is transferred to the positioning device 30, the grabbing component 43 of the grabbing device 40 is controlled by the servo control module 53 to load the processed material 3 onto the material taking support 223 of the material taking component 22.

In the clinker storing step, the jaw driving module 532 of the servo control module 53 drives the jaw power source 2212 of the gripping mechanism 221 of the material taking assembly 22 to start working, so as to control the gripping action of the jaws 2211 of the gripping mechanism 221, and thus, the jaws 211 grip the processed material 3 fed onto the material taking support 223 of the material taking assembly 22. The lifting driving module 531 of the servo control module 53 controls the lifting driving power source 2121 of the lifting assembly 21 of the material moving device 20 to start working, so that the transmission screw 2123 is driven to rotate by the transmission unit 2122, so that the lifting base 211 moves downwards along the lifting guide rail 2124 to enable the material taking assembly 22 to reach a position corresponding to the empty one layer of storage chambers 123 of the storage bin 12 of the material storage device 10. Meanwhile, the material taking driving module 533 of the servo control module 53 controls the material taking power source 2221 of the material taking assembly 22 of the material taking assembly 20 to start to work, so as to drive the material taking transmission unit 2222 to rotate the material taking transmission element 22221, so that the material taking transmission element 22221 drives the clamping mechanism 221 to move towards the material bin 12 to convey the processed material 3 to the material bin 12, and in the moving process of the processed material 3 towards the material bin 12, the positioning pin on the bottom side of the material 3 slides in the material taking guide groove 22321 of the material taking guide rail 2232 of the material taking support 223 of the material taking assembly 22 until the positioning pin on the bottom side of the material 3 slides into the corresponding guide groove formed in the material storage chamber 123 of the material bin 12. When the processed material 3 is separated from the material taking support 223 of the material taking assembly 22 and is loaded into the storage chamber 123 of the storage bin 12, the jaw driving module 532 of the servo control module 53 drives the jaw power source 2212 of the gripping mechanism 221 of the material taking assembly 22 to start to work so as to control the releasing action of the jaws 2211 of the gripping mechanism 221, so that the jaws 211 release the processed material 3, and the processed material 3 is stored in the storage chamber 123 of the storage bin 12.

After the processed material 3 is conveyed into the bin 12, the lifting assembly 21 can directly continue to work at this time, and the material taking assembly 22 is conveyed to a position corresponding to another layer of storage chamber 123 of the bin 12 so as to prepare for taking the next material 3 to be processed. Or the take-off assembly 22 is returned to its original shape and raised by the drive of the lifting assembly 21 to receive the next finished material 3.

It will be appreciated that the up-feed step and the clinker storing step may be performed simultaneously, whereby the completion time of one whole reloading procedure of the feeding and the discharging storage is shortened. And after one reloading process is finished, the next process can be automatically repeated until all the materials 3 to be processed in the bin 12 are replaced by the materials 3 which are processed.

Referring to fig. 11, the material taking assembly 22 may begin to take material from a first layer in the bin 12 and sequentially take out the material 3 to be processed in the bin 12 until all layers of the material 3 to be processed in the bin 12 are taken out and replaced with the material 3 to be processed in all the storage chambers 123 in the bin 12, and may be moved by the moving device of the other knapsack bin 12 to the side of the automatic material changing device 100 to interface with the bin conveying device, through which the bin 12 of the storage device 10 is conveyed to replace the cooked bin with and replace all the raw bins storing the material 3 to be processed, so that uninterrupted operation of the processing device 2 may be achieved.

It will be appreciated that the take out assembly 22 may begin taking material from a first level in the bin 12, which may be the bottom-most side of the bin 12 in the storage chamber 123 or the top-most side of the bin 12 in the storage chamber 123. Of course, the order of taking out the materials 3 to be processed in the bin 12 is not limited to the above, and other orders of taking out the materials 3 to be processed in the bin 12 may be designed as needed.

Accordingly, it can be seen that the automatic material changing method of the utility model can realize the automation of the material changing process of the processing equipment 2, can continuously change the material 24 hours a day, reduces or does not need manual participation, reduces the labor cost of factories, and improves the working efficiency and the stability of the processing equipment 2.

The basic principles of the present utility model have been described above in connection with specific embodiments, however, it should be noted that the advantages, benefits, effects, etc. mentioned in the present utility model are merely examples and not intended to be limiting, and these advantages, benefits, effects, etc. are not to be considered as essential to the various embodiments of the present utility model. Furthermore, the specific details disclosed herein are for purposes of illustration and understanding only, and are not intended to be limiting, as the utility model is not necessarily limited to practice with the above described specific details.

Claims (10)

1. An electrical control system for an automatic material changing apparatus for controlling the automatic material changing apparatus to perform a material changing operation for a processing apparatus, wherein the automatic material changing apparatus comprises a storage device, a material moving device and a gripping device, the storage device comprises a storage bin for storing a material, the material moving device is used for conveying the material, and the gripping device is used for gripping and placing the material on the processing apparatus, wherein the electrical control system comprises:

a controller;

a motion control module;

a servo control module; and

the signal exchange module is used for controlling the motion control module to output control signals to the signal exchange module, the signal exchange module is used for sending the control signals to the servo control module, and the servo control module is used for controlling the operation of the material moving device and the grabbing device.

2. The electrical control system of an automatic changing apparatus according to claim 1, further comprising a positioning device, wherein the servo control module is further configured to drive the positioning device and the material moving device to transfer the material between the positioning device and the material moving device, wherein the positioning device is configured to temporarily store the material to be processed, and wherein the gripping device is configured to grip the material to be processed from the positioning device and feed the material to the processing apparatus.

3. The electrical control system of an automatic material changing apparatus according to claim 1, wherein the servo control module comprises at least one of the following:

the lifting driving module is used for driving a lifting power source of a lifting assembly of the material moving device so as to drive a lifting base of the material moving device to generate lifting displacement;

the clamping jaw driving module is used for driving clamping jaws of a material taking assembly of the material moving device so as to clamp or release the material;

the material taking driving module is used for driving a material taking power source of a material taking assembly of the material moving device, so as to drive a material taking conveying element of the material taking assembly to drive a clamping mechanism of the material taking assembly to synchronously move;

the manipulator driving module is used for driving a manipulator of the grabbing device so as to drive the manipulator to enable a grabbing base and a grabbing component of the grabbing device to reach the position of grabbing the material;

the adjusting driving module is used for driving an adjusting power source of an adjusting component of the grabbing device so that the adjusting plate is driven to drive the grabbing component to grab or release the material;

the bearing driving module is used for driving a bearing power source of the grabbing assembly so as to enable the bearing plate to move, and therefore the supporting part of the bearing plate is enabled to move to the bottom side of the material so as to support the material;

The pressing driving module is used for driving the pressing power source of the grabbing component so as to enable the pressing plate to move and press the pressing plate on the top surface of the material; and

an image processing module to process the image information of the positioning camera to determine the relative position between the gripping device and the processing equipment.

4. An automatic reloading apparatus for reloading of material of a processing apparatus, the automatic reloading apparatus comprising:

a storage device comprising a silo for storing the material;

a material transferring device for transferring the material; and

and the grabbing device is used for grabbing and placing the materials on the processing equipment.

5. The automatic material changing apparatus according to claim 4, further comprising a positioning device, wherein the material is adapted to be transferred between the positioning device and the material moving device, wherein the positioning device is adapted to temporarily store the material to be processed, and wherein the gripping device grips the material to be processed from the positioning device and feeds the material to the processing apparatus.

6. The automatic changing apparatus according to claim 4, further comprising a positioning device, wherein the material is adapted to be transferred between the positioning device and the transfer device, wherein the positioning device is adapted to register the processed material from the processing apparatus, wherein the gripping device grips the material to be processed from the transfer device and feeds the material to the processing apparatus.

7. The automatic material changing apparatus according to claim 5, wherein the material moving device comprises a lifting assembly and a material taking assembly, the material taking assembly is provided to the lifting assembly to generate lifting displacement under the driving of the lifting assembly, the material taking assembly is used for taking the material from the storage bin, the lifting assembly drives the material taking assembly to a position corresponding to the positioning device, and the material is allowed to be transferred from the material taking assembly to the positioning device.

8. The automatic changing apparatus of claim 7, wherein the take out assembly comprises a gripping mechanism, a take out drive mechanism, and a take out support, wherein the gripping mechanism is configured to grip the material, and wherein the take out drive mechanism is configured to drive displacement of the gripping mechanism to transfer the material between the bin and the take out support of the take out assembly.

9. The automatic changing apparatus according to claim 8, wherein said gripping mechanism is driven by said material take-off driving mechanism to a position adjacent to said bin to grip the material stored in said bin and is driven by said material take-off driving mechanism to move away from said bin to completely disengage the material from said bin to completely feed to said material take-off bracket of said material take-off assembly.

10. An automatic reloading apparatus for reloading of material of a processing apparatus, the automatic reloading apparatus comprising:

a storage device comprising a silo for storing the material;

a material transferring device for transferring the material; and

the grabbing device is used for grabbing and placing the materials on the processing equipment;

wherein the automatic reloading equipment further comprises a positioning device, wherein the material is suitable for being transferred between the positioning device and the material moving device, wherein the positioning device is used for temporarily storing the material to be processed, and the grabbing device grabs the material to be processed from the positioning device and loads the material to the processing equipment;

the material moving device comprises a lifting assembly and a material taking assembly, wherein the material taking assembly is arranged on the lifting assembly to generate lifting displacement under the driving of the lifting assembly, and the material taking assembly is used for extracting the material from the storage bin;

wherein the lift assembly drives the take out assembly to a position corresponding to the positioning device and allows the material to be transferred from the take out assembly to the positioning device;

the material taking assembly comprises a clamping mechanism, a material taking driving mechanism and a material taking support, wherein the clamping mechanism is used for clamping the material, and the material taking driving mechanism is used for driving the displacement of the clamping mechanism so as to enable the material to be transferred between the storage bin and the material taking support of the material taking assembly;

Wherein the gripping mechanism is driven by the take-off drive mechanism to a position adjacent the bin to grip the material stored in the bin and is driven by the take-off drive mechanism to move in a direction away from the bin to completely disengage the material from the bin for complete loading to the take-off support of the take-off assembly;

wherein the clamping mechanism comprises a clamping jaw and a clamping jaw power source, and the clamping jaw is suitable for clamping or releasing the material under the drive of the clamping jaw power source;

wherein the jaw has a clamping groove and the jaw mechanism further comprises a limiting element to prevent an end of the material from excessively entering the clamping groove;

wherein the material taking assembly comprises two clamping mechanisms which are mutually spaced and are used for clamping the end parts of the materials;

the material taking driving mechanism comprises a material taking power source and a material taking transmission unit, wherein the material taking transmission unit is driven by the material taking power source to drive the clamping mechanism to generate displacement close to the storage bin or far away from the storage bin;

the material taking transmission unit comprises an annular material taking transmission element, and the clamping mechanism is connected with the material taking transmission element so as to drive the clamping mechanism to generate displacement when the material taking transmission element is driven to rotate;

The material taking transmission unit further comprises a pair of material taking transmission wheels, a material taking transmission wheel, a material taking control wheel and a material taking driving shaft, wherein two ends of the material taking transmission element are arranged on the pair of material taking transmission wheels, the material taking control wheel is coupled with the material taking power source, and the material taking control wheel is driven by the material taking power source to drive the material taking driving shaft to rotate so as to drive the material taking transmission wheel to rotate, so that one of the material taking transmission wheels is further driven to rotate so as to drive the material taking transmission element to rotate;

wherein the material taking support comprises a base and a material taking guide rail, wherein the material taking guide rail is arranged on the base and is provided with a material taking guide groove, and a positioning pin on the bottom side of the material is suitable for sliding in the material taking guide groove;

wherein the bin comprises a plurality of mutually spaced storage layers to form a plurality of storage chambers, wherein the storage layers have a gap on a side adjacent to the transfer device so that the gripping mechanism extends into the gap to grip or release the material;

the lifting assembly comprises a lifting base and a lifting driving mechanism, wherein the material taking assembly is supported on the lifting base, and the lifting driving mechanism is used for driving lifting displacement of the lifting base;

The lifting driving mechanism comprises a lifting driving power source, a transmission unit and a driving screw rod, wherein the driving screw rod is connected to the lifting base, and the lifting driving power source drives the transmission unit to enable the transmission unit to drive the driving screw rod to rotate so as to drive lifting displacement of the lifting base;

the lifting assembly comprises a fixing frame, a lifting guide rail is arranged on the fixing frame, and the lifting base is suitable for being driven by the driving screw rod to generate lifting displacement along the lifting guide rail;

the transmission unit comprises a first lifting transmission gear and a second lifting transmission gear, the second lifting transmission gear is connected with the driving screw rod, and the first lifting transmission gear is driven by the lifting driving power source to rotate so as to drive the second lifting transmission gear to rotate, so that the driving screw rod is driven to rotate;

wherein the positioning device comprises a positioning base and a positioning conveying assembly, wherein the positioning conveying assembly is used for transferring the material from the material taking assembly to the positioning base;

the positioning conveying assembly comprises a positioning power source, a positioning driving mechanism and an annular positioning conveying element, wherein the positioning power source drives the positioning driving mechanism so that the positioning driving mechanism drives the annular positioning conveying element to rotate, and the material is driven to be transferred between the material taking assembly and the positioning device;

Wherein the positioning device comprises a positioning guide assembly which is provided with a positioning guide groove for guiding the sliding of a positioning pin on the bottom side of the material;

wherein the positioning device is arranged on the top side of the storage bin;

the grabbing device comprises a manipulator, a grabbing base and a plurality of grabbing components, wherein the grabbing components are arranged on the grabbing base, the grabbing base is connected with the manipulator to move under the driving of the manipulator, and the grabbing components are used for grabbing materials;

wherein the gripping device comprises an adjustment assembly for adjusting the position of the gripping assembly so that the gripping assembly grips or releases the material;

wherein the gripping assembly comprises a gripping element and a holding unit, wherein the gripping element frictionally contacts a side of the material to grip the material, the holding unit comprises a holding power source and a holding plate, wherein the holding plate comprises a support portion, and the holding plate is driven by the holding power source to move the support portion to the bottom side of the material to support the material from the bottom side of the material;

the grabbing component comprises a pressing unit, wherein the pressing unit comprises a pressing power source and a pressing plate, and the pressing plate is driven by the pressing power source to press the top surface of the material;

The adjusting assembly comprises an adjusting power source, an adjusting screw rod and an adjusting plate, the grabbing assembly is connected to the adjusting plate, and the adjusting power source drives the adjusting screw rod to rotate so that the adjusting plate moves, and therefore the position of the adjusting assembly is adjusted.