Automatic feeding device and feeding method for whip finishing machine

Abstract

This invention relates to the field of fireworks and firecrackers processing, and discloses an automatic feeding device and method for a firecracker-making machine. The automatic unpacking and feeding device includes a feeding frame, a hopper, a material channel, a discharge bottom mold, an insert plate blocking mechanism, a pushing mechanism, and a gripping mechanism. The feeding frame is inclined and located at the feeding end of the firecracker-making machine; the hopper is located on the feeding frame at the feeding end of the firecracker-making machine; the material channel is horizontally located above the hopper and connected to the hopper, with its other end serving as a feeding station; the discharge bottom mold is located at the feeding station; the insert plate blocking mechanism is located between the discharge bottom mold and the material channel; the pushing mechanism is located below the discharge bottom mold and is used to push the firecracker cakes in the discharge bottom mold into the material channel; the gripping mechanism is located on one side of the feeding frame and includes a cake holder and a mechanical gripper. This invention adopts a feeding method that pushes material upwards from the bottom of the material channel, which can automatically replenish material from the bottom of the material channel without manual intervention, reducing manpower requirements, improving production efficiency, and reducing labor costs.

Description

Technical Field

[0001] This invention relates to the field of fireworks and firecrackers processing, and in particular to an automatic feeding device and feeding method for a firecracker-making machine. Background Technology

[0002] The firecracker-making process is a crucial component of firecracker manufacturing. Currently, firecracker-making machines heavily rely on manual operation in their production process. For example, in the material loading stage, employees need to invest significant time and effort in preparing and placing the materials. Specifically, during loading, the firecracker tubes inside the molds need to be removed and placed in the hopper. This manual loading method severely restricts production efficiency, making it difficult to implement a one-person-multiple-machine operation model, and consequently, hindering the formation of a significant cost advantage in a highly competitive market. Furthermore, manual loading leads to discontinuous material supply. Newly added materials, lacking proper restraint, may become disorganized at break points. This not only affects the normal operation of the firecracker-making machine, leading to decreased firecracker quality, but may also cause equipment malfunctions and downtime, further reducing production efficiency.

[0003] In summary, current knotting machines face two significant challenges in production: heavy reliance on manual operation and the problem of disordered material feeding. Therefore, this application provides an automatic feeding device for knotting machines, which automatically feeds material after the hopper is full. This effectively improves production efficiency, reduces employee productivity, and minimizes equipment malfunctions and downtime caused by disordered material feeding. Summary of the Invention

[0004] This invention aims to solve the technical problems existing in the prior art. To this end, this invention provides an automatic feeding device for a knotting machine, which realizes automatic feeding after the hopper is full, effectively improving production efficiency, reducing employee productivity, and minimizing equipment failures and downtime caused by material mismatch.

[0005] The technical solution adopted by this invention to solve its technical problem is: An automatic feeding device for a knotting machine is provided, comprising a feeding frame, a hopper, a feed channel, a discharge bottom mold, an insert plate blocking mechanism, a pushing mechanism, and a gripping mechanism, wherein: the feeding frame is inclinedly disposed at the feeding end of the knotting machine; the hopper is disposed on the feeding frame at the feeding end of the knotting machine and is used to supply material to the knotting machine; the feed channel is horizontally disposed above the hopper and connected to the hopper, with its other end serving as a feeding station; the discharge bottom mold is disposed at the feeding station and is used to position the cannonballs; the insert plate blocking mechanism is disposed between the discharge bottom mold and the feed channel and is used to prevent the cannonballs in the feed channel from falling; the pushing mechanism is disposed below the discharge bottom mold and is used to push the cannonballs in the discharge bottom mold into the feed channel; the gripping mechanism is disposed on the side of the feeding frame away from the hopper and includes a cannonball holder for placing the cannonball mold and a mechanical gripper for gripping the cannonballs in the cannonball mold and transferring them into the discharge bottom mold.

[0006] In a preferred embodiment, the material channel includes a top side panel and a bottom side panel, wherein the top side panel is composed of multiple elastic soft pressure strips and multiple uprights, with both ends of the soft pressure strips fixed to the uprights; the bottom side panel is equipped with a washboard texture conveying device for actively conveying the barrel to the hopper.

[0007] In a preferred embodiment, the feeding bottom mold is disposed on the feeding bottom plate of the feeding rack, its shape matches the shape of the cannon cake, its height is less than 1 / 2 of the cannon barrel, and its upper part is provided with an opening as an outlet for the cannon cake to be pushed out of the feeding bottom mold.

[0008] In a preferred embodiment, the insert plate blocking mechanism includes an insert plate and a first electric push rod. The shape of the insert plate and the bottom mold together form the same shape as the cake. The insert plate movably passes through the bottom plate of the feeding frame. The first electric push rod is mounted on the back of the feeding frame through a bracket, and its push rod is connected to the insert plate.

[0009] In a preferred embodiment, the material pushing mechanism includes guide shafts on both sides of the material feeding bottom mold, material pushing hinge plates slidably connected to the two guide shafts, a top rod located in the middle of the two material pushing hinge plates, a linear module for driving the top rod, and a second electric push rod mounted on the slide plate of the linear module. The material pushing hinge plates are set at a height higher than the material feeding bottom mold. The two material pushing hinge plates are hinged together, and the material pushing hinge plates are provided with a sliding groove slidably connected to the guide shafts away from the hinge end. The top rod is fixedly mounted on the slide plate of the linear module, and the push rod of the second electric push rod is connected to the hinge shaft of the two material pushing hinge plates.

[0010] In a preferred embodiment, the cake-placement frame and the feeding frame are arranged parallel to and side-by-side on the outside of the feeding frame for placing and fixing the cake mold; the mechanical gripper includes a two-axis linear module, a pressure plate assembly, and an electric gripper; the pressure plate assembly and the electric gripper are both arranged on the Z-axis module of the two-axis linear module, and are used to press the cake and grip the cake respectively; the two-axis linear module is arranged between the cake-placement frame and the feeding frame for transferring the gripped cake into the bottom mold.

[0011] In a preferred embodiment, the cake holder includes a supporting base plate, guide strips on both sides of the supporting base plate, and a limiting baffle at the bottom of the supporting base plate. The inner side of the guide strip is provided with a sliding groove, and the cake mold is provided with a protruding edge that is slidably connected to the sliding groove.

[0012] In a preferred embodiment, the pressure plate assembly is disposed between the two grippers of the electric gripper, and includes a pressure plate, a support column, a support plate, a guide column, and a spring. The support plate is fixedly installed at the bottom of the mounting base of the electric gripper, the pressure plate is disposed below the support plate, and a support column is disposed in the middle of the pressure plate. The support column movably passes through the pressure plate and connects to the limiting block. Multiple guide columns are disposed on the pressure plate and movably pass through the support plate. The spring is disposed on the guide column and is located between the pressure plate and the support plate.

[0013] In a preferred embodiment, the cake holder further includes a third electric push rod, which is fixed to the support base plate and connected to a limiting baffle, which is movably installed at the bottom of the support base plate.

[0014] In a preferred embodiment, a cake mold recycling station and a material receiving drawer are respectively provided below the cake placing rack and the material dispensing bottom mold for recycling the cake mold after unpacking and the fallen cannon barrel.

[0015] The feeding method using the above-mentioned automatic feeding device for the knotting machine includes the following steps: S1, Place the cake mold containing the cake into the cake holder and position it; S2, control the mechanical gripper to grab the cake and transfer it into the bottom mold; S3, control the pushing mechanism to push the cannonball out of the bottom mold until the cannonball exceeds the insert plate blocking mechanism; S4, control the material pushing mechanism to reset. When the material pushing mechanism runs to a position lower than the baffle mechanism, the baffle mechanism is activated to block the barrel from falling into the material channel. S5, the pushing mechanism completes the reset, and the pushing signal is activated when the next cake is placed into the bottom mold. Before pushing, the insert plate blocking mechanism is reset first, and then the cake is pushed out. Repeat S3 and S4, and so on, so that the knotting machine can automatically replenish materials from the bottom of the material channel.

[0016] In a preferred embodiment, the device further includes a material discharge guide chute disposed on the cake holder and a blocking assembly disposed between the material discharge guide chute and the cake holder. The material discharge guide chute is also provided with chute on both side plates near one end of the cake holder for sliding connection with the cake mold. The blocking assembly includes a blocking block and a fourth electric push rod connected to the blocking block. The fourth electric push rod is mounted on the cake holder, and the blocking block is disposed between the cake holder and the material discharge guide chute.

[0017] The feeding method using the above-mentioned automatic feeding device for the knotting machine includes the following steps: S1, the cannon cake mold containing the cannon cake is placed into the material dropping guide slide. The cannon cake mold slides down to the cake placing frame under the guidance of the material dropping guide slide. When the cannon cake mold slides to the cake placing frame, the blocking component is activated to prevent the next cannon cake mold from entering the cake placing frame. S2, control the mechanical gripper to grab the cake and transfer it into the bottom mold; S3, control the pushing mechanism to push the cannonball out of the bottom mold until the cannonball exceeds the insert plate blocking mechanism; S4, control the material pushing mechanism to reset. When the material pushing mechanism runs to a position lower than the baffle mechanism, the baffle mechanism is activated to block the barrel from falling into the material channel. S5, the pushing mechanism completes the reset, and the pushing signal is activated when the next cake is placed into the bottom mold. Before pushing, the insert plate blocking mechanism is reset first, and then the cake is pushed out. Repeat S3 and S4, and so on, so that the knotting machine can automatically replenish materials from the bottom of the material channel.

[0018] Compared with the prior art, the beneficial effects of the present invention are: 1. This invention places the cannon cake on the bottom mold and pushes it upward using a pushing mechanism, causing several cannons in the material channel to move towards the hopper. After one push is completed, the material blocking mechanism stops the material from falling. This feeding method, which pushes the material upward from the bottom of the material channel, can automatically replenish the material from the bottom without manual intervention, greatly reducing the need for manpower and making it possible for one person to operate multiple machines at the same time. This not only improves production efficiency but also reduces labor costs, resulting in significant economic benefits. 2. The design of the gripping mechanism enables automatic unpacking and transfer of the cake to the bottom mold, eliminating the need for manual unpacking and feeding, reducing labor intensity, and achieving automated standard production; 3. The design of the material feeding guide chute and blocking components enables automated continuous feeding, laying the foundation for automated production lines. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort, wherein: Figure 1 This is a structural diagram of the automatic feeding device for the knotting machine provided by the present invention on the knotting machine; Figure 2 This is a schematic diagram of the automatic feeding device for the knotting machine provided by the present invention; Figure 3 yes Figure 2 Assembly drawings for the provided disc holder, two-axis linear module, pressure plate assembly, and electric gripper; Figure 4 yes Figure 2 A schematic diagram of the provided cake rack structure; Figure 5 yes Figure 3 Installation diagram of the provided pressure plate assembly and electric gripper on the two-axis linear module; Figure 6 yes Figure 1 A structural diagram of the provided loading rack; Figure 7 yes Figure 6 The provided installation structure diagram of the material feeding bottom mold, material blocking mechanism, and material pushing mechanism on the material loading rack; Figure 8 yes Figure 6 The provided installation structure diagram of the material blocking mechanism.

[0020] The attached diagram lists the components represented by each number as follows: 1—Booth, 2—Channel, 2.1—Side panel, 3—Discharge bottom mold, 4—Insertion plate blocking mechanism, 4.1—Insertion plate, 4.2—First electric push rod, 5—Pushing mechanism, 5.1—Guide shaft, 5.2—Pushing hinge plate, 5.2.1—Slide groove, 5.3—Top rod, 5.4—Linear module, 5.5—Second electric push rod, 6—Pad holder, 6.1—Support base plate, 6.2—Guide strip, 6.3—Limiting baffle, 7—Two-axis linear module, 7.1—X-axis module, 7 .2—Z-axis module, 8—Pressure plate assembly, 8.1—Pressure plate, 8.2—Support column, 8.3—Support plate, 8.4—Guide column, 8.5—Spring, 9—Electric gripper, 10—Washboard pattern conveyor device, 11—Third electric push rod, 12—Cannonball mold recycling station, 13—Receiving drawer, 14—Discharge guide chute, 15—Blocking assembly, 15.1—Blocking block, 15.2—Fourth electric push rod, 100—Fist-tying machine, 200—Cannonball mold, 300—Cannonball. Detailed Implementation

[0021] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] In the description of this invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention. Furthermore, the terms "first," "second," etc., used in this invention are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. The terms "installed," "connected," and "linked" should be interpreted broadly; for example, they may refer to a fixed connection, a detachable connection, or an integral connection; they may refer to a mechanical connection or an electrical connection; they may refer to a direct connection or an indirect connection through an intermediate medium; they may refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0024] Furthermore, the technical solutions of the various embodiments can be combined with each other, but only if they are feasible for those skilled in the art. If the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by this invention. Example

[0025] This embodiment provides an automatic feeding device for a knotting machine, as shown in the attached figure. Figure 1 Appendix Figure 2 and attached Figure 6 As shown, it includes a feeding rack, a hopper 1, a material channel 2, a bottom mold for discharging material 3, a baffle plate mechanism 4, and a pushing mechanism 5, wherein: The feeding rack is inclinedly located at the feeding end of the knotting machine 100; the hopper 1 is located on the feeding rack at the feeding end of the knotting machine and is used to supply material to the knotting machine; the material channel 2 is horizontally located above the hopper 1 and is connected to the hopper, with its other end serving as the feeding station; the discharge bottom mold 3 is located at the feeding station and is used to position the firecracker cake 300; the insert plate blocking mechanism 4 is located between the discharge bottom mold 3 and the material channel 2 and is used to prevent the firecrackers in the material channel from falling; the pushing mechanism 5 is located below the discharge bottom mold 3 and is used to push the firecracker cake in the discharge bottom mold into the material channel.

[0026] Preferred options are listed below. Figure 2 and attached Figure 6 As shown, the material channel 2 includes a top side wall 2.1 and a bottom side wall. The top side wall is composed of multiple elastic soft pressure strips and multiple uprights. The two ends of the soft pressure strips are fixed to the uprights. The soft pressure strips can be made of rubber strips. They use their own weight to apply a certain pressure to the material in the material channel, keeping it in a neat and orderly state. This constraint can prevent the upper material from scattering during the flow process and ensure the stability and continuity of the material flow. The bottom side wall is equipped with a washboard textured conveyor device 10, which is used to actively convey the barrel to the hopper.

[0027] Preferred options are listed below. Figure 6 As shown, the feeding bottom mold 3 is located on the feeding base plate of the feeding rack. Its shape matches the shape of the cannon disc, its height is less than 1 / 2 of the cannon barrel, and it has an opening at the top as an outlet for the cannon disc to be pushed out of the feeding bottom mold. In this embodiment, the height of the feeding bottom mold is designed to be less than 1 / 2 of the cannon barrel, which satisfies the positioning of the cannon disc and also facilitates the pushing mechanism to push out the cannon disc.

[0028] Preferred options are listed below. Figure 6 To be continued Figure 8 As shown, the insert plate blocking mechanism 4 includes an insert plate 4.1 and a first electric push rod 4.2. The shape of the insert plate 4.1, together with the feeding bottom mold 3, forms the same shape as the cake. The insert plate 4.1 movably passes through the feeding bottom plate of the feeding rack. The first electric push rod 4.2 is mounted on the back of the feeding rack via a bracket, and its push rod is connected to the insert plate 4.1. Specifically, the insert plate is generally in the pushed-out state. After the feeding bottom mold is filled with material, before the pushing mechanism pushes the material, the insert plate retracts. At this time, the pushing mechanism pushes out, causing the material in the feeding bottom mold to be pushed above the insert plate. When the pushing mechanism retracts beyond the insert plate, the insert plate pushes out, forming a blockage against the material.

[0029] Preferred options are listed below. Figure 2 Appendix Figure 6 and attached Figure 7As shown, the material pushing mechanism 5 includes guide shafts 5.1 on both sides of the material feeding bottom mold 3, material pushing hinge plates 5.2 slidably connected to the two guide shafts, a push rod 5.3 located in the middle of the two material pushing hinge plates 5.2, a linear module 5.4 for driving the push rod 5.3, and a second electric push rod 5.5 mounted on the slide plate of the linear module 5.4. The material pushing hinge plates 5.2 are set at a height higher than the material feeding bottom mold 3. The two material pushing hinge plates 5.2 are hinged together, and the material pushing hinge plates 5.2 have a sliding groove 5.2.1 slidably connected to the guide shafts 5.1 away from the hinge end. The push rod 5.3 is fixedly mounted on the slide plate of the linear module 5.4. The push rod of the second electric push rod 5.5 is connected to the hinge shaft of the two material pushing hinge plates 5.2. This design can use a linear module to push the cannonball upwards out of the bottom mold, and at the same time, it can use a second electric push rod to change the two pusher hinge plates from V-shape to inverted V-shape, thereby achieving stable material pushing and meeting the pushing requirements of the cannonball's special shape.

[0030] The feeding method using the above-mentioned automatic feeding device for the knotting machine includes the following steps: S1, Place the cannonball in the bottom mold and unpack it; specifically, the cannonball can be made of plastic hoops. After the cannonball is placed in the bottom mold, the plastic hoops are removed; the cannonball can be placed automatically by a mechanical gripper.

[0031] S2, control the pushing mechanism to push the cannonball out of the bottom mold until the cannonball exceeds the insert plate blocking mechanism; S3, control the material pushing mechanism to reset. When the material pushing mechanism runs to a position lower than the baffle mechanism, the baffle mechanism is activated to block the barrel from falling into the material channel. S4, the pushing mechanism completes the reset, and the pushing signal is activated when the next cake is placed into the bottom mold. Before pushing, the insert plate blocking mechanism is reset first, and then the cake is pushed out. Repeat S2 and S3, and so on, so that the briquette can be replenished with material from the bottom of the material channel.

[0032] In practice, the hopper and feed channel are pre-filled with material. When replenishing material, the cake is placed into the feeding mold manually or by a robotic arm. Then, the insert plate of the insert plate blocking mechanism retracts, and at the same time, the pushing mechanism pushes the material steadily into the feed channel. When the material reaches the predetermined limit height, the pushing mechanism retracts below the insert plate, and the insert plate pushes out to lock the material in its current position, preventing displacement or falling during subsequent operations. Then, the pushing mechanism resets, preparing for the next feeding action. Through the above cycle, the feeding device can efficiently achieve continuous material conveying, and each feeding action follows the same steps, ensuring operational stability and reliability.

[0033] In this embodiment, the cannon cake is placed on the bottom mold of the feeding channel, and the feeding mechanism pushes the material upward, causing several cannons in the channel to move towards the hopper. After one feeding is completed, the material blocking mechanism stops the material from falling. This feeding method, which pushes the material upward from the bottom of the channel, can automatically replenish the material from the bottom without manual intervention, greatly reducing the need for manpower. It makes it possible for one person to operate multiple machines at the same time, which not only improves production efficiency but also reduces labor costs, resulting in significant economic benefits. Example

[0034] Based on Embodiment 1, this embodiment further includes a gripping mechanism for unpacking the cake and transferring it into the discharge mold. (See attached...) Figure 1 To be continued Figure 5 As shown, the gripping mechanism includes a cake holder 6 and a mechanical gripper. The mechanical gripper includes a two-axis linear module 7, a pressure plate assembly 8, and an electric gripper 9, wherein: As attached Figure 1 and attached Figure 2 As shown, the cake holder 6 is arranged parallel to and outside the feeding rack, and is used to place and fix the cake mold 200. Preferably, as shown in the attached diagram... Figure 3 and attached Figure 4 As shown, the cake holder 6 includes a supporting base plate 6.1, guide strips 6.2 on both sides of the supporting base plate, and a limiting baffle 6.3 at the bottom of the supporting base plate. The guide strips 6.2 have inner grooves, and the cake mold 200 has protruding edges that slide in connection with the grooves. This design limits the position of the cake mold after it enters the cake holder, ensuring that the electric gripper can smoothly grasp the cakes inside. (See attached image) Figure 3 As shown, the pressure plate assembly 8 and the electric gripper 9 are both mounted on the Z-axis module of the two-axis linear module 7, and are used to press the cake and grip the cake 300, respectively. Specifically, the two-axis linear module 7 consists of an X-axis module 7.1 and a Z-axis module 7.2. The X-axis module enables the electric gripper to reciprocate between the cake holder and the bottom mold, and the Z-axis module enables the electric gripper to move up and down. The two-axis linear module 7 is located between the cake holder 6 and the feeding rack, and is used to transfer the gripped cake into the bottom mold.

[0035] As attached Figure 5As shown, the pressure plate assembly 8 is located between the two grippers of the electric gripper 9. It includes a pressure plate 8.1, a support column 8.2, a support plate 8.3, a guide column 8.4, and a spring 8.5. The support plate 8.3 is fixedly installed at the bottom of the mounting base of the electric gripper 9. The pressure plate 8.1 is located below the support plate 8.3, and the support column 8.2 is located in its middle. The support column 8.2 movably passes through the pressure plate 8.1 and connects to a limiting block. The limiting block is used to prevent the support column from detaching from the support plate. Multiple guide columns 8.4 are located on the pressure plate 8.1 and movably pass through the support plate 8.3. The spring 8.5 is located on the guide column 8.4 and is located between the pressure plate 8.1 and the support plate 8.3. In actual operation, when the electric gripper moves to the cake placement frame station, the two-axis linear module controls the electric gripper to move downward. During the downward movement, the support plate presses against the cake inside the cake mold until it reaches the bottom position. Then, the electric gripper picks up the cake and controls the electric gripper to move upward, transferring the cake to the bottom mold.

[0036] The feeding method using the above-mentioned automatic feeding device for the knotting machine includes the following steps: S1, Place the cake mold containing the cake into the cake holder and position it; S2, control the two-axis linear module to move the electric gripper to face the cannon cake, and control the electric gripper and pressure plate assembly to move downward. The pressure plate assembly presses down on the cannon cake, while the electric gripper grabs the cannon cake. S3 controls the two-axis linear module to move upward, while simultaneously controlling the electric gripper to move to the position of the bottom mold for feeding and placing the cake into the bottom mold; S4, control the pushing mechanism to push the cannonball out of the bottom mold until the cannonball exceeds the insert plate blocking mechanism; S5, control the material pushing mechanism to reset. When the material pushing mechanism runs to a position lower than the baffle mechanism, the baffle mechanism is activated to block the barrel from falling in the material channel. S6, the pushing mechanism completes the reset, and the pushing signal is activated when the next cake is placed into the bottom mold. Before pushing, the insert plate blocking mechanism is reset first, and then the cake is pushed out. Repeat S4 and S5, and so on, so that the tying machine can automatically replenish materials from the bottom of the material channel.

[0037] In practice, the hopper and material channel are pre-filled with material. When the feeding device automatically feeds the material, the cake mold can be placed at the end of the cake holder manually or by a robotic arm. The cake holder slides down to its bottom under its own weight. Then, the two-axis linear module controls the electric gripper to pick up the cake from the cake mold and transfer it to the bottom mold. Next, the insert plate of the insert plate blocking mechanism retracts, and at the same time, the pushing mechanism pushes the material stably into the material channel. When the material reaches the predetermined limit height, the pushing mechanism retracts below the insert plate, and the insert plate pushes out to lock the material in the current position, preventing the material from shifting or falling in subsequent operations. Then, the pushing mechanism resets, preparing for the next feeding action. Through the above cycle, the feeding device can efficiently achieve continuous material conveying, and each feeding action follows the same steps, ensuring the stability and reliability of the operation. Example

[0038] Based on Example 2, as shown in the appendix Figure 4 As shown, the cake holder 6 also includes a third electric push rod 11, which is fixed to the supporting base plate 6.1. The push rod is connected to a limiting baffle 6.3, which is movably installed at the bottom of the supporting base plate 6.1. This design allows the limiting baffle to retract using the third electric push rod after the cake mold has grasped and transferred the cake inside. At this point, the cake mold falls freely under its own weight.

[0039] Preferred options are listed below. Figure 1 As shown, below the cake holder 6 and the material feeding bottom mold 3, there are also a cake mold recycling station 12 and a material receiving drawer 13, which are used to receive the cake mold and the dropped material, respectively. Example

[0040] Based on Example 2 or Example 3, as shown in the appendix Figure 2 and attached Figure 3 As shown, the feeding device in this embodiment also includes a material discharge guide chute 14 disposed on the cake holder 6 and a blocking component 15 disposed between the material discharge guide chute 14 and the cake holder 6. The material discharge guide chute 14 also has chute grooves on its two side plates near the cake holder 6 for sliding connection with the cake mold 200. The blocking component 15 includes a blocking block 15.1 and a fourth electric push rod 15.2 connected to the blocking block. The fourth electric push rod 15.2 is mounted on the cake holder 6, and the blocking block 15.1 is disposed between the cake holder 6 and the material discharge guide chute 14. This design allows multiple cake molds to be accommodated in the material discharge guide chute, isolated by the blocking component, and controlled to enter the cake holder one by one, achieving continuous production.

[0041] The feeding method using the above-mentioned automatic feeding device for the knotting machine includes the following steps: S1, the cannon cake mold containing the cannon cake is placed into the material dropping guide slide. The cannon cake mold slides down to the cake placing frame under the guidance of the material dropping guide slide. When the cannon cake mold slides to the cake placing frame, the blocking component is activated to prevent the next cannon cake mold from entering the cake placing frame. S2, control the two-axis linear module to move the electric gripper to face the cannon cake, and control the electric gripper and pressure plate assembly to move downward. The pressure plate assembly presses down on the cannon cake, while the electric gripper grabs the cannon cake. S3 controls the two-axis linear module to move upward, while simultaneously controlling the electric gripper to move to the position of the bottom mold for feeding and placing the cake into the bottom mold; S4, control the pushing mechanism to push the cannonball out of the bottom mold until the cannonball exceeds the insert plate blocking mechanism; S5, control the material pushing mechanism to reset. When the material pushing mechanism runs to a position lower than the baffle mechanism, the baffle mechanism is activated to block the barrel from falling in the material channel. S6, the pushing mechanism completes the reset, and the pushing signal is activated when the next cake is placed into the bottom mold. Before pushing, the insert plate blocking mechanism is reset first, and then the cake is pushed out. Repeat S4 and S5, and so on, so that the tying machine can automatically replenish materials from the bottom of the material channel.

[0042] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention specification, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. An automatic feeding device for a knotting machine, characterized in that: It includes a feeding rack, hopper, feed channel, discharge bottom mold, insert plate blocking mechanism, pusher mechanism, and gripping mechanism, among which: The feeding rack is inclined and located at the feed end of the knotting machine; The hopper is located on the feeding frame at the feeding end of the knotting machine and is used to supply material to the knotting machine. The material channel is horizontally located above the silo and connected to the silo, with its other end serving as a loading station. The bottom mold for feeding material is located at the feeding station and is used to position the cake; The insert plate baffle mechanism is located between the bottom mold and the material channel to prevent the barrel from falling into the material channel; The pushing mechanism is located below the bottom mold of the feeding mold and is used to push the cake inside the bottom mold into the material channel; The gripping mechanism is located on the side of the feeding rack away from the hopper, and includes a cake holder for placing the cake mold and a mechanical gripper for gripping the cakes in the cake mold and transferring them to the bottom mold for discharging. The mechanical gripper includes a two-axis linear module, a pressure plate assembly, and an electric gripper; the pressure plate assembly and the electric gripper are both located on the Z-axis module of the two-axis linear module, and are used to press the cake and grip the cake respectively; the two-axis linear module is located between the cake placement frame and the feeding frame, and is used to transfer the gripped cake to the bottom mold.

2. The automatic feeding device for the knotting machine according to claim 1, characterized in that: The material channel includes a top side panel and a bottom side panel. The top side panel consists of multiple flexible soft pressure strips and multiple uprights, with both ends of the soft pressure strips fixed to the uprights. The bottom side panel is equipped with a washboard textured conveying device for actively conveying the barrel to the hopper.

3. The automatic feeding device for the knotting machine according to claim 1, characterized in that: The feeding bottom mold is set on the feeding bottom plate of the feeding rack. Its shape matches the shape of the cannon cake, its height is less than 1 / 2 of the cannon barrel, and its upper part is provided with an opening as the outlet for the cannon cake to be pushed out of the feeding bottom mold.

4. The automatic feeding device for the knotting machine according to claim 1, characterized in that: The insert plate blocking mechanism includes an insert plate and a first electric push rod. The shape of the insert plate and the bottom mold together form the same shape as the cake. The insert plate moves through the bottom plate of the feeding frame. The first electric push rod is installed on the back of the feeding frame through a bracket, and its push rod is connected to the insert plate.

5. The automatic feeding device for the knotting machine according to claim 1, characterized in that: The material pushing mechanism includes guide shafts on both sides of the bottom mold, material pushing hinge plates slidably connected to the two guide shafts, a top rod in the middle of the two material pushing hinge plates, a linear module for driving the top rod, and a second electric push rod mounted on the slide plate of the linear module. The height of the material pushing hinge plates is higher than that of the bottom mold. The two material pushing hinge plates are hinged together, and the material pushing hinge plates are provided with a sliding groove slidably connected to the guide shafts away from the hinge end. The top rod is fixedly mounted on the slide plate of the linear module, and the push rod of the second electric push rod is connected to the hinge shaft of the two material pushing hinge plates.

6. The automatic feeding device for the knotting machine according to claim 1, characterized in that: The cake-placement rack is arranged parallel to and side-by-side with the feeding rack on the outside of the feeding rack, and is used to place and fix the cake mold.

7. The automatic feeding device for the knotting machine according to claim 6, characterized in that: The cake holder includes a supporting base plate, guide strips on both sides of the supporting base plate, and a limiting baffle at the bottom of the supporting base plate. The inner side of the guide strip is provided with a sliding groove, and the cake mold is provided with a convex edge that is slidably connected to the sliding groove.

8. The automatic feeding device for the knotting machine according to claim 6, characterized in that: The pressure plate assembly is located between the two grippers of the electric gripper. It includes a pressure plate, a support column, a support plate, a guide column, and a spring. The support plate is fixedly installed at the bottom of the mounting base of the electric gripper. The pressure plate is located below the support plate, and a support column is provided in its middle. The support column movably passes through the pressure plate and connects to the limiting block. Multiple guide columns are provided on the pressure plate and movably pass through the support plate. The spring is provided on the guide column and is located between the pressure plate and the support plate.

9. The automatic feeding device for the knotting machine according to claim 7, characterized in that: The cake holder also includes a third electric push rod, which is fixed to the support base plate. The push rod is connected to a limiting baffle, which is movably installed at the bottom of the support base plate.

10. The automatic feeding device for the knotting machine according to claim 9, characterized in that: Below the cake-setting rack and the bottom mold for dispensing the cake, there are respectively a cake mold recycling station and a receiving drawer for recycling the cake molds and fallen cake barrels after the cakes are unpacked.

11. The automatic feeding device for the knotting machine according to any one of claims 1 to 10, characterized in that: It also includes a material dropping guide chute on the cake holder and a blocking assembly between the material dropping guide chute and the cake holder. The material dropping guide chute is also provided with a chute on both side plates near the cake holder for sliding connection with the cake mold. The blocking assembly includes a blocking block and a fourth electric push rod connected to the blocking block. The fourth electric push rod is installed on the cake holder, and the blocking block is located between the cake holder and the material dropping guide chute.

12. A feeding method for a knotting machine, characterized in that: The automatic feeding device for the knotting machine according to any one of claims 1 to 10 is used for feeding, and the specific feeding steps are as follows: S1, Place the cake mold containing the cake into the cake holder and position it; S2, control the mechanical gripper to grab the cake and transfer it into the bottom mold; S3, control the pushing mechanism to push the cannonball out of the bottom mold until the cannonball exceeds the insert plate blocking mechanism; S4, control the material pushing mechanism to reset. When the material pushing mechanism runs to a position lower than the baffle mechanism, the baffle mechanism is activated to block the barrel from falling into the material channel. S5, the pushing mechanism completes the reset, and the pushing signal is activated when the next cake is placed into the bottom mold. Before pushing, the insert plate blocking mechanism is reset first, and then the cake is pushed out. Repeat S3 and S4, and so on, so that the knotting machine can automatically replenish materials from the bottom of the material channel.

13. A feeding method for a knotting machine, characterized in that: The automatic feeding device for the knotting machine as described in claim 11 is used for feeding, and the specific feeding steps are as follows: S1, the cannon cake mold containing the cannon cake is placed into the material dropping guide slide. The cannon cake mold slides down to the cake placing frame under the guidance of the material dropping guide slide. When the cannon cake mold slides to the cake placing frame, the blocking component is activated to prevent the next cannon cake mold from entering the cake placing frame. S2, control the mechanical gripper to grab the cake and transfer it into the bottom mold; S3, control the pushing mechanism to push the cannonball out of the bottom mold until the cannonball exceeds the insert plate blocking mechanism; S4, control the material pushing mechanism to reset. When the material pushing mechanism runs to a position lower than the baffle mechanism, the baffle mechanism is activated to block the barrel from falling into the material channel. S5, the pushing mechanism completes the reset, and the pushing signal is activated when the next cake is placed into the bottom mold. Before pushing, the insert plate blocking mechanism is reset first, and then the cake is pushed out. Repeat S3 and S4, and so on, so that the knotting machine can automatically replenish materials from the bottom of the material channel.

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