CN220659861U

CN220659861U - Feeding and taking device

Info

Publication number: CN220659861U
Application number: CN202322320964.1U
Authority: CN
Inventors: 万文涛; 姜伟伟; 顾金龙; 徐俊; 杜占; 吴林峰
Original assignee: Guzhi Robot Shanghai Co ltd
Current assignee: Guzhi Robot Shanghai Co ltd
Priority date: 2023-08-28
Filing date: 2023-08-28
Publication date: 2024-03-26
Anticipated expiration: 2033-08-28

Abstract

The utility model discloses a feeding and taking device for bolts, which comprises a feeding mechanism and a taking mechanism, wherein the feeding mechanism is used for storing the bolts and conveying the bolts to the taking mechanism, at least two bolts are arranged, and the taking mechanism is integrated on a tightening grip of a robot and used for receiving the bolts and conveying the bolts to a taking position so as to take the bolts. The feeding and taking device disclosed by the utility model can set the number of the bolts according to actual needs and convey the bolts to the material taking position at one time so as to realize material taking of the bolts. Compared with the prior art, the robot tightening handle does not need to screw one bolt and returns to the material taking position to take materials, and then the next bolt is screwed, but the tightening of a plurality of bolts is realized through one-time material taking, so that the material supplying and taking device effectively improves the working efficiency of the robot.

Description

Feeding and taking device

Technical Field

The utility model relates to the technical field of assembly, in particular to a feeding and taking device.

Background

With the continuous innovation of the automobile assembly process, more and more of the bolts are screwed by using a robot hand-held screwing gun in the automobile assembly process. In general, after a robot hand-operated tightening gun has screwed one bolt, the robot hand-operated tightening gun needs to return to a bolt taking position to grasp the bolt, and then the next bolt is tightened. If the robot at the station needs to screw a plurality of bolts in one-time operation, the reciprocating grabbing bolts increases the production takt, and the working efficiency is greatly reduced.

Therefore, how to effectively improve the working efficiency of the robot is a technical problem that needs to be solved by those skilled in the art.

Disclosure of Invention

Accordingly, the present utility model is directed to a feeding and taking device capable of effectively improving the working efficiency of a robot.

In order to achieve the above purpose, the present utility model provides the following technical solutions:

the utility model provides a supply extracting device for the feed and the extracting of bolt, includes feeding mechanism and extracting mechanism, feeding mechanism is used for storing the bolt, and will the bolt is carried to extracting mechanism, the bolt is two at least, extracting mechanism integration is screwed up on the tongs in the robot, is used for receiving the bolt, and will the bolt is carried to getting the material position, in order to realize getting the material of bolt.

Optionally, the feeding mechanism comprises a bolt storage assembly, a bolt feeding assembly and a bolt pushing assembly;

the bolt storage assembly is used for storing the bolts and vibrating the bolts into the bolt feeding assembly;

the bolt pushing assembly is used for conveying the bolts to the material taking mechanism.

Optionally, the bolt storage component comprises a bin and a bolt vibration machine, the bin is used for storing the bolt, and the bolt vibration machine is used for providing vibration force for the bolt, so that the bolt enters the bolt feeding component from the bin in a preset posture.

Optionally, the bolt feeding assembly comprises a bolt feeding channel and a detection sensor;

the bolt can reach the feed inlet through the bolt feed channel, the detection sensor is used for detecting the position of the bolt, and the position of the bolt can be fed back to the bolt pushing assembly.

Optionally, the bolt pushing assembly includes a bolt pushing channel, a first pushing member and a second pushing member;

the bolt pushing channel and the bolt feeding channel are arranged at a preset angle;

the first pushing piece is used for pushing the bolt from the feed port into the bolt pushing channel;

the second pushing piece is used for pushing the bolt from the bolt pushing channel into the material taking mechanism.

Optionally, the bolt pushes away material subassembly still including set up in first clamp plate and the second clamp plate of bolt pushing away material passageway both sides, first clamp plate with have between the second clamp plate and be used for the bolt passes through the clearance.

Optionally, the feeding mechanism further includes:

the first supporting seat is used for supporting the bolt feeding assembly;

the second supporting seat is used for supporting the bolt pushing assembly, and a sliding rail is further arranged on the second supporting seat;

the sliding block is matched with the sliding rail, the first pushing piece is arranged on the sliding block, the second pushing piece is connected with the sliding block, and the second pushing piece can drive the sliding block to slide towards the direction close to or far away from the bolt pushing channel along the sliding rail.

Optionally, the first pushing piece includes a first cylinder and a pushing rod, the first cylinder is arranged on the sliding block, and a cylinder rod of the first cylinder can push the bolt placed in the feed port into the bolt feed channel;

the push rod is arranged on one side of the sliding block, the push rod is aligned with the bolt pushing channel, and can extend into the bolt pushing channel and push the bolt into the material taking mechanism;

the detection sensor is electrically connected with the first cylinder.

Optionally, the second pushing piece is the second cylinder, the cylinder block of second cylinder is fixed in on the second supporting seat, the telescopic link of second cylinder with the slider links to each other, the second cylinder can drive the slider is close to or keep away from the direction of bolt pushing channel slides.

Optionally, the feeding mechanism comprises a base, a bolt guiding assembly, a bolt clamping assembly and a sliding assembly, wherein the bolt guiding assembly is used for receiving the bolt on the feeding mechanism, the bolt clamping assembly is used for clamping or loosening the bolt, and the sliding assembly is used for conveying the bolt to the feeding position.

Optionally, the bolt guide assembly includes guide way, first clamp plate and second clamp plate, the guide way set up in on the base, first clamp plate with the second clamp plate set up respectively in the both sides of base, first clamp plate with have between the second clamp plate be used for the space that the bolt passed through.

Optionally, the bolt clamping assembly comprises a clamping cylinder, a first clamping jaw and a second clamping jaw, wherein a first clamping part is arranged on the first clamping jaw, a second clamping part is arranged on the second clamping jaw, and the first clamping part and the second clamping part are matched to form a clamping through hole for clamping the bolt;

the first clamping jaw and/or the second clamping jaw are/is connected with the clamping cylinder so as to achieve approaching or separating of the first clamping jaw and the second clamping jaw.

Optionally, the slip subassembly is slip table cylinder, first clamping jaw with the second clamping jaw all with the slip table cylinder links to each other, the slip table cylinder can pass through first clamping jaw with the second clamping jaw will the bolt is carried to get the material position.

According to the technical scheme, when the number of the storage bolts of the feeding mechanism reaches at least two, the bolts are conveyed to the material taking mechanism, and after the material taking mechanism receives the bolts, the bolts are conveyed to the material taking position, so that the bolts are taken.

The feeding and taking device disclosed by the embodiment of the utility model can set the number of the bolts according to actual needs and can convey the bolts to the material taking position at one time so as to realize the material taking of the bolts. Compared with the prior art, the robot tightening handle does not need to screw one bolt and returns to the material taking position to take materials, and then the next bolt is screwed, but the tightening of a plurality of bolts is realized through one-time material taking, so that the material supplying and taking device effectively improves the working efficiency of the robot.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are required to be used in the description of the embodiments or the prior art are briefly introduced below, and it is obvious that the drawings in the following description are only embodiments of the present utility model, and other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of an overall structure of a feeding and extracting device according to an embodiment of the present utility model;

FIG. 2 is an overall schematic diagram of a feeding mechanism according to an embodiment of the present utility model;

FIG. 3 is an enlarged partial schematic view of a feeding mechanism according to an embodiment of the present utility model;

fig. 4 is a schematic view of a take off mechanism according to an embodiment of the present disclosure.

Wherein, each part name is as follows:

100. a feeding mechanism; 101. a storage bin; 102. a bolt feed passage; 103. a first cylinder; 104. a push rod; 105. a bolt pushing channel; 106. a second cylinder; 107. a detection sensor; 108. a first support base; 109. a second support base; 110. a slide block; 200. a material taking mechanism; 201. a base; 202. a guide groove; 203. a first platen; 204. a second pressing plate; 205. a clamping cylinder; 206. a first jaw; 207. a second jaw; 208. clamping the through hole; 209. a slipway cylinder; 300. a bolt; 400. the robot tightens the grip.

Detailed Description

The utility model aims at providing the feeding and taking device which can effectively improve the working efficiency of a robot.

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Referring to fig. 1-2, the feeding and extracting device disclosed in the embodiments of the present utility model is used for feeding and extracting bolts 300, and specifically includes a feeding mechanism 100 and an extracting mechanism 200, wherein the feeding mechanism 100 is used for storing the bolts 300 and conveying the bolts 300 to the extracting mechanisms 200, at least two of the bolts 300 are provided, and the extracting mechanisms 200 are integrated on a robot tightening grip for receiving the bolts 300 and conveying the bolts 300 to an extracting position to realize extracting of the bolts 300.

When the feeding mechanism 100 stores at least two bolts 300, the bolts 300 are conveyed to the material taking mechanism 200, and after the material taking mechanism 200 receives the bolts 300, the bolts 300 are conveyed to the material taking position, so that the material taking of the bolts 300 is realized.

The feeding and taking device disclosed by the embodiment of the utility model can set the number of the bolts 300 according to actual needs and convey the bolts 300 to the taking position at one time so as to realize taking of the bolts 300. Compared with the prior art, the robot tightening handle does not need to screw one bolt and returns to the material taking position to take materials, and then the next bolt is screwed, but the tightening of a plurality of bolts is realized through one-time material taking, so that the material supplying and taking device effectively improves the working efficiency of the robot.

Note that the preset posture of the bolt 300 refers to a posture of the bolt with the large head facing downward.

The specific structure of the feeding mechanism 100 is not limited in the embodiment of the present utility model, and the structure meeting the use requirement of the present utility model is within the protection scope of the present utility model.

As one possible embodiment, the disclosed feeding mechanism 100 includes a bolt storage assembly, a bolt feed assembly, and a bolt push assembly.

Wherein the bolt storage assembly is used to store the bolts 300 and shake the bolts 300 into the bolt feed assembly.

Wherein the bolt pushing assembly is used to convey the bolts 300 to the reclaimer 200.

The embodiment of the utility model does not limit the concrete structure of the bolt storage assembly, and the structure meeting the use requirement of the utility model is within the protection scope of the utility model.

As one possible embodiment, the disclosed bolt storage assembly of the embodiment of the present utility model includes a bin 101 and a bolt shaker, wherein the bin 101 is used to store the bolts 300, and the bolt shaker is used to provide a shaking force for the bolts 300 such that the bolts 300 enter the bolt feed assembly from the bin 101 in a preset posture.

It should be noted that, an opening is provided in the bin 101, the bolt feeding assembly is communicated with the bin 101 through the opening, and under the action of the bolt vibration machine, the bolt 300 in the bin 101 can enter the bolt feeding assembly through the opening.

The concrete structure, the setting position and the like of the bolt vibration machine are not particularly limited, so long as the vibration of the bolt 300 can be realized, and the bolt 300 can enter the bolt feeding assembly from the bin 101 in a preset posture.

The embodiment of the utility model does not limit the concrete structure of the bolt feeding assembly, and the structure meeting the use requirement of the utility model is within the protection scope of the utility model.

As one possible embodiment, the disclosed bolt feed assembly includes a bolt feed channel 102 and a detection sensor 107.

Wherein, bolt 300 can reach feed inlet department through bolt feed channel 102, and detection sensor 107 is used for detecting the position of bolt 300 to can feed back the position of bolt 300 to the bolt pushing components.

The number of the detection sensors 107 is not particularly limited in the embodiment of the present utility model, and one detection sensor 107 may be provided, or two or more detection sensors may be provided, and those skilled in the art may set the detection sensors according to actual needs.

Meanwhile, the setting position of the detection sensor 107 is not particularly limited in the embodiment of the present utility model, and a structure meeting the use requirement of the present utility model is within the scope of the present utility model.

Preferably, two detection sensors 107 are preferably used in the embodiment of the present utility model, and are disposed at positions on both sides of the bolt feeding passage 102.

The embodiment of the utility model does not limit the concrete structure of the bolt pushing assembly, and the structure meeting the use requirement of the utility model is within the protection scope of the utility model.

As one possible embodiment, the disclosed bolt pushing assembly of the present utility model includes a bolt pushing channel 105, a first pushing member, and a second pushing member.

The bolt pushing channel 105 and the bolt feeding channel 102 are arranged at a preset angle, the first pushing member is used for pushing the bolt 300 from the feeding hole into the bolt pushing channel 105, and the second pushing member is used for pushing the bolt 300 from the bolt pushing channel 105 into the material taking mechanism 200.

The angle value of the preset angle is not particularly limited in the embodiment of the present utility model, as long as the bolt 300 can be ensured to enter the bolt pushing channel 105 from the feed port.

In order to enhance the reliability of the entry of the bolts 300 from the feed openings into the bolt-pushing channels 105, the embodiment of the present utility model preferably has the bolt-feeding channels 102 and the bolt-pushing channels 105 arranged vertically.

Referring to fig. 3, the bolt pushing assembly disclosed in the embodiment of the utility model further includes a first pressing plate 203 and a second pressing plate 204 disposed at two sides of the bolt pushing channel 105, wherein a passing gap for passing the bolt 300 is provided between the first pressing plate 203 and the second pressing plate 204. So configured, the arrangement of the first platen 203 and the second platen 204 prevents the bolts 300 from tipping during movement when the bolts 300 pass through the bolt pushing channels 105.

In order to effectively support the bolt feeding assembly and the bolt pushing assembly, the feeding mechanism 100 disclosed in the embodiment of the utility model further includes a first supporting seat 108, a second supporting seat 109 and a sliding block 110.

The first support seat 108 is used for supporting the bolt feeding assembly, the second support seat 109 is used for supporting the bolt pushing assembly, and the second support seat 109 is further provided with a sliding rail.

It should be noted that, the sliding block 110 is matched with the sliding rail, specifically, the first pushing member is disposed on the sliding block 110, the second pushing member is connected with the sliding block 110, and the second pushing member can drive the sliding block 110 along the sliding rail to slide towards a direction close to or far away from the bolt pushing channel 105.

The embodiment of the utility model does not limit the specific structure of the first pushing member, and the structure meeting the use requirement of the utility model is within the protection scope of the utility model.

As one possible embodiment, the first pushing member disclosed in the embodiment of the present utility model includes a first cylinder 103 and a push rod 104, wherein the first cylinder 103 is disposed on the slider 110, and a cylinder rod of the first cylinder 103 can push the bolt 300 disposed at the feed port into the bolt feed channel 102.

The push rod 104 is disposed at one side of the slider 110, and is aligned with the bolt pushing channel 105, and can extend into the bolt pushing channel 105 and push the bolt 300 into the material taking mechanism 200.

The detection sensor 107 is electrically connected to the first cylinder 103.

When the detection sensor 107 detects that the bolts 300 reach the feed port, a signal is transmitted to the first cylinder 103, the first cylinder 103 is started, the cylinder rod of the first cylinder 103 extends out, the bolts 300 are pushed into the bolt feed channel 102 from the feed port, and so on until all the bolts 300 in the feed mechanism 100 are pushed into the bolt pushing channel 105.

The embodiment of the utility model does not limit the specific structure of the second pushing member, and the structure meeting the use requirement of the utility model is within the protection scope of the utility model.

As one possible embodiment, the second pushing member disclosed in the embodiment of the present utility model is a second air cylinder 106, where an air cylinder seat of the second air cylinder 106 is fixed on a second supporting seat 109, a telescopic rod of the second air cylinder 106 is connected to a sliding block 110, and the second air cylinder 106 can drive the sliding block 110 to slide in a direction approaching or separating from the bolt pushing channel 105.

When the bolts 300 in the material taking mechanism 200 are used up, the robot tightens the handles 400 and moves to a position close to the feeding mechanism 100 with the integrated material taking mechanism 200, the second air cylinder 106 is started, the telescopic rod of the second air cylinder 106 is retracted, the sliding block 110 is driven to move towards a direction close to the bolt pushing channel 105, and accordingly the push rod 104 of the first material pushing piece is driven to move towards a direction close to the bolt pushing channel 105 until the push rod 104 pushes all the bolts 300 in the bolt pushing channel 105 into the material taking mechanism 200.

The specific structure of the extracting mechanism 200 is not limited in this embodiment, and the structure meeting the use requirements of the present utility model is within the scope of the present utility model.

Referring to fig. 4, as one possible embodiment, the disclosed take off mechanism 200 includes a base 201, a bolt guide assembly, a bolt clamping assembly, and a slip assembly.

The bolt guiding assembly is used for receiving the bolt 300 on the feeding mechanism 100, the bolt clamping assembly is used for clamping or loosening the bolt 300, and the sliding assembly is used for conveying the bolt 300 to the material taking position.

The embodiment of the utility model does not limit the concrete structure of the bolt guide assembly, and the structure meeting the use requirement of the utility model is within the protection scope of the utility model.

As one possible embodiment, the bolt guiding assembly disclosed in the embodiment of the present utility model includes a guiding groove 202, a first pressing plate 203 and a second pressing plate 204, wherein the guiding groove 202 is disposed on the base 201, the first pressing plate 203 and the second pressing plate 204 are respectively disposed on two sides of the base 201, and a space for the bolt 300 to pass through is provided between the first pressing plate 203 and the second pressing plate 204.

It should be noted that, when the bolts 300 in the material taking mechanism 200 are used up, the robot tightening handle 400 and the integrated material taking mechanism 200 move to a position close to the material feeding mechanism 100, and the heights of the guide groove 202 and the bolt pushing channel 105 need to be kept horizontally consistent, so that the guide groove 202 and the bolt pushing channel 105 can be butted together, thereby ensuring that the bolts 300 smoothly enter the material taking mechanism 200 from the material feeding mechanism 100.

Under the action of the second air cylinder 106, the bolts 300 can enter the guide grooves 202 from the bolt pushing channels 105, and the first pressing plate 203 and the second pressing plate 204 can keep the bolts 300 in an upright state to avoid toppling.

The embodiment of the utility model does not limit the concrete structure of the bolt clamping assembly, and the structure meeting the use requirement of the utility model is within the protection scope of the utility model.

As one possible embodiment, the bolt clamping assembly disclosed in the embodiment of the present utility model includes a clamping cylinder 205, a first clamping jaw 206 and a second clamping jaw 207, wherein a first clamping portion is provided on the first clamping jaw 206, a second clamping portion is provided on the second clamping jaw 207, and the first clamping portion and the second clamping portion cooperate to form a clamping through hole 208 for clamping the bolt 300.

Wherein the first clamping jaw 206 and/or the second clamping jaw 207 are connected to the clamping cylinder 205 for approaching or separating the first clamping jaw 206 and the second clamping jaw 207.

It should be noted that, one or two clamping cylinders 205 may be provided, and when one clamping cylinder 205 is provided, the clamping cylinder 205 is connected to one of the first clamping jaw 206 and the second clamping jaw 207, that is, one of the first clamping jaw 206 and the second clamping jaw 207 is not moved, and only the other clamping jaw needs to be moved in a direction approaching or separating from the other clamping jaw. Of course, two clamping cylinders 205 may be provided, and the first clamping jaw 206 and the second clamping jaw 207 are respectively connected to one of the clamping cylinders 205, and each of the first clamping jaw 206 and the second clamping jaw 207 may be movable.

The embodiment of the utility model does not limit the specific structure of the sliding component, and the structure meeting the use requirement of the utility model is within the protection scope of the utility model.

As one possible embodiment, the disclosed sliding assembly is a sliding table cylinder 209, where the first clamping jaw 206 and the second clamping jaw 207 are connected to the sliding table cylinder 209, and the sliding table cylinder 209 is capable of conveying the bolt 300 to the material taking position through the first clamping jaw 206 and the second clamping jaw 207.

After the bolt 300 enters the extracting mechanism 200 from the feeding mechanism 100, the clamping cylinder 205 is started, and the first clamping jaw 206 and the second clamping jaw 207 can clamp the bolt 300 under the action of the clamping cylinder 205.

When the bolt 300 enters the guide groove 202, the clamping cylinder 205 can be started to clamp the bolt 300, meanwhile, the sliding table cylinder 209 is started, the sliding table cylinder 209 drives the bolt 300 to move towards the material taking position through the first clamping jaw 206 and the second clamping jaw 207, after the bolt 300 moves in place, the robot tightening gripper 400 grabs one bolt 300 (namely the bolt 300 positioned at the outermost side), then the clamping cylinder 205 is opened, the sliding table cylinder 209 returns, after the sliding table cylinder 209 returns to the initial position, the clamping cylinder 205 clamps the bolt 300 again, the operation is repeated until the robot tightening gripper 400 completely grabs the bolt 300 in the guide groove 202, and the robot tightening gripper 400 and the integrated material taking mechanism 200 return to the original point.

Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present utility model. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the utility model. Thus, the present utility model is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. The feeding and taking device is used for feeding and taking bolts and is characterized by comprising a feeding mechanism and a taking mechanism, wherein the feeding mechanism is used for storing the bolts and conveying the bolts to the taking mechanism, the number of the bolts is at least two, and the taking mechanism is integrated on a robot tightening handle and used for receiving the bolts and conveying the bolts to a taking position so as to take the bolts.

2. The supply and take out apparatus of claim 1, wherein the supply mechanism comprises a bolt storage assembly, a bolt feed assembly, and a bolt push assembly;

3. The supply and take out apparatus of claim 2, wherein the bolt storage assembly includes a bin for storing the bolts and a bolt shaker for providing a shaking force for the bolts such that the bolts enter the bolt feed assembly from the bin in a preset attitude.

4. The supply and take off device of claim 2, wherein the bolt feed assembly includes a bolt feed channel and a detection sensor;

5. The supply and take out apparatus of claim 4, wherein the bolt pushing assembly comprises a bolt pushing channel, a first pushing member, and a second pushing member;

6. The feed and take out apparatus of claim 5, wherein the bolt pushing assembly further comprises a first platen and a second platen disposed on opposite sides of the bolt pushing channel, the first platen and the second platen having a pass-through gap therebetween for the passage of the bolt.

7. The supply and take off device of claim 5, wherein the supply mechanism further comprises:

the first supporting seat is used for supporting the bolt feeding assembly;

8. The feeding and extracting device as defined in claim 7, wherein the first pushing member includes a first cylinder and a push rod, the first cylinder is disposed on the slider, and a cylinder rod of the first cylinder can push the bolt disposed at the feed port into the bolt feed channel;

the detection sensor is electrically connected with the first cylinder.

9. The feeding and taking device according to claim 7, wherein the second pushing member is a second cylinder, a cylinder seat of the second cylinder is fixed on the second supporting seat, a telescopic rod of the second cylinder is connected with the sliding block, and the second cylinder can drive the sliding block to slide towards a direction close to or far away from the bolt pushing channel.

10. The feed and take-off device of claim 1, wherein the take-off mechanism includes a base, a bolt guide assembly for receiving the bolt on the feed mechanism, a bolt clamping assembly for clamping or releasing the bolt, and a slip assembly for transporting the bolt to the take-off location.

11. The material feeding and taking device according to claim 10, wherein the bolt guiding assembly comprises a guiding groove, a first pressing plate and a second pressing plate, the guiding groove is arranged on the base, the first pressing plate and the second pressing plate are respectively arranged on two sides of the base, and a space for the bolt to pass through is arranged between the first pressing plate and the second pressing plate.

12. The material feeding and taking device according to claim 10, wherein the bolt clamping assembly comprises a clamping cylinder, a first clamping jaw and a second clamping jaw, a first clamping portion is arranged on the first clamping jaw, a second clamping portion is arranged on the second clamping jaw, and the first clamping portion and the second clamping portion are matched to form a clamping through hole for clamping the bolt;

13. The feeding and extracting device of claim 12, wherein the sliding assembly is a sliding table cylinder, the first clamping jaw and the second clamping jaw are both connected with the sliding table cylinder, and the sliding table cylinder can convey the bolt to the extracting position through the first clamping jaw and the second clamping jaw.