Automatic feeding device for piping robot

Abstract

The application provides an automatic feeding device for a piping robot, comprising: a first feeding mechanism for providing material with a specific flow; a transfer mechanism comprising a rotating table and a first driving mechanism for driving the rotating table to rotate, the rotating table being provided with at least two mounting parts, each of the mounting parts being used for mounting a cartridge; a second feeding mechanism, the second feeding mechanism comprising a material taking part, a second driving mechanism and a feeding assembly connected with the second driving mechanism; a conveying mechanism connected with the second feeding mechanism; and a controller electrically connected with the first feeding mechanism, the first driving mechanism, the second driving mechanism and the conveying mechanism. According to the device, accurate automatic feeding is realized when the piping robot moves, and continuous feeding is realized through continuous rotation of multiple cartridges, thereby improving the feeding efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of feeding machines, in particular to an automatic feeding device for a cake decorating robot. BACKGROUND

[0002] Cake decorating is increasingly in demand in the food industry, such as cakes and milk tea, and is also loved by people. However, three-dimensional cake decorating is currently done manually. Using manual extrusion for low-flow materials, such as bean paste, requires manual strong extrusion to extrude bean paste materials from the container, which is labor-intensive and time-consuming. And using manual material due to the high viscosity of bean paste materials, it is difficult to achieve precise feeding at a certain time. Therefore, such problems need to be solved urgently. SUMMARY

[0003] Therefore, the present application provides an automatic feeding device for a cake decorating robot, which can realize automatic feeding, complete three-dimensional cake decorating, and precise feeding.

[0004] To solve the above technical problems, the present application provides an automatic feeding device for a cake decorating robot.

[0005] In a first aspect, the embodiments of the present application provide an automatic feeding device for a cake decorating robot, comprising:

[0006] A first feeding mechanism for providing materials with a certain flow rate;

[0007] A transfer mechanism comprising a turntable and a first driving mechanism for driving the rotation of the turntable, the turntable being provided with at least two mounting portions, each mounting portion being used for mounting a cartridge;

[0008] A second feeding mechanism, the second feeding mechanism comprising a material taking portion, a second driving mechanism and a feeding assembly connected with the second driving mechanism;

[0009] A transport mechanism connected with the second feeding mechanism;

[0010] A controller electrically connected with the first feeding mechanism, the first driving mechanism, the second driving mechanism and the transport mechanism,

[0011] The controller receives a cake decorating instruction, controls the first driving mechanism to drive the turntable to rotate to a first set angle, so that the discharge port of the first feeding mechanism is aligned with a cartridge mounted on the turntable;

[0012] The controller controls the first feeding mechanism to add a preset amount of material into the aligned cartridge, and controls the turntable to rotate to a second preset angle, so that the cartridge containing the material is aligned with the material taking portion of the second feeding mechanism;

[0013] The controller controls the transport mechanism to drive the material taking part of the second feeding mechanism to be in butt joint with the material cylinder with material and to be clamped, and controls the transport mechanism to drive the material cylinder to be separated from the rotating table and to be moved to a designated position;

[0014] After the controller controls the second driving mechanism to drive the feeding assembly to compact the material in the material cylinder, the controller controls the second driving mechanism to drive the feeding assembly to supply the material in the material cylinder to the designated position in a timed and quantitative manner.

[0015] According to an embodiment of the present application, the automatic feeding device for the decorating robot further comprises:

[0016] A decorating table comprising a third driving mechanism and a carrier connected with the third driving mechanism, the decorating table being arranged at the designated position, the third driving mechanism being electrically connected with the controller, the controller controlling the third driving mechanism to drive the carrier to move and controlling the second driving mechanism to drive the feeding assembly to supply the material in the material cylinder to the carrier in a timed and quantitative manner.

[0017] According to an embodiment of the present application, the first feeding mechanism comprises:

[0018] A hopper provided with a containing cavity for loading material and a discharge port;

[0019] A feeding rod arranged in the containing cavity, one end of the feeding rod being arranged at the discharge port;

[0020] A fourth driving mechanism connected with the other end of the feeding rod and electrically connected with the controller, for receiving the signal transmitted by the controller and driving the feeding rod to rotate to load or stop loading the material cylinder.

[0021] According to an embodiment of the present application, stirring blades are arranged on the feeding rod to stir the material in the hopper.

[0022] According to an embodiment of the present application, the transfer mechanism further comprises:

[0023] A first speed reducer connected with the driving shaft of the first driving mechanism, for controlling the rotating speed.

[0024] According to an embodiment of the present application, the second feeding mechanism further comprises:

[0025] A base, one end of the base being fixedly connected with one end of the transport mechanism, the other end of the base being provided with the material taking part, the second driving mechanism being fixed on the base, and the feeding assembly being mounted on the base.

[0026] According to one embodiment of the present application, the feeding assembly comprises:

[0027] a screw, one end of which is rotatably connected to the base and the other end of which is connected to the rotating shaft of the second driving mechanism;

[0028] a sliding block, which is threadedly connected to the screw;

[0029] a piston rod, one end of which is fixedly connected to the sliding block and the other end of which is connected to a piston head, which is located on one side of the material taking part and is used to compact or push the material in the barrel under the driving of the second driving mechanism.

[0030] According to one embodiment of the present application, at least one guide shaft is arranged on the base in parallel with the screw, a guide hole is arranged on the sliding block, the guide shaft passes through the guide hole and is fixedly connected to the base at both ends, and the guide shaft is used to limit the moving direction of the sliding block.

[0031] According to one embodiment of the present application, the automatic feeding device for the piping robot further comprises a first coupling, the screw is connected to the second driving mechanism through the first coupling.

[0032] According to one embodiment of the present application, the material taking part is provided with a flange female head, which is used to match the flange male head on the barrel.

[0033] The beneficial effects of the above technical solutions of the present application are as follows:

[0034] According to the automatic feeding device for the piping robot provided by the embodiment of the present application, the first feeding mechanism, the transfer mechanism, the second feeding mechanism, the transportation mechanism, the controller and the connection relationship between the components are arranged, the operation of each component is controlled by the controller, the precise automatic feeding is realized when the piping robot moves, the continuous feeding is realized through the continuous rotation of the plurality of barrels, and the feeding efficiency is improved. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 FIG. 1 is a structural schematic diagram of the automatic feeding device for the piping robot according to one embodiment of the present application;

[0036] Figure 2 FIG. 2 is another partial structural schematic diagram of the automatic feeding device for the piping robot according to one embodiment of the present application;

[0037] Figure 3 FIG. 3 is a structural schematic diagram of the second feeding mechanism according to one embodiment of the present application;

[0038] Figure 4 FIG. 4 is a process schematic diagram of the transportation mechanism driving the second feeding mechanism to take or put the barrel according to one embodiment of the present application;

[0039] Figure 5 This is a structural schematic diagram of the transport mechanism driving the second feeding mechanism to place the barrel in accordance with one embodiment of the present invention.

[0040] Reference numerals

[0041] Automatic feeding device 100 for decorating robot;

[0042] First feeding mechanism 10; hopper 11; feeding rod 12; stirring blade 121; propulsion spiral blade 122; fourth driving mechanism 13; first frame 14; second reducer 15; second coupling 16; auxiliary bracket 17; flange bearing 18;

[0043] Transfer mechanism 20; turntable 21; first drive mechanism 22; first reducer 23; screw 24;

[0044] Second feeding mechanism 30; base 31; flange female 311; screw 32; slider 33; piston rod 34; piston head 35; second driving mechanism 36; guide shaft 37; first coupling 38; transmission nut 39;

[0045] Transport mechanism 40; Robot terminal 41;

[0046] Barrel 50; flange male 51; nozzle 52;

[0047] Flower mounting platform 60; third driving mechanism 61; carrier platform 62; flowers 63. DETAILED DESCRIPTION

[0048] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the described embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field are within the scope of protection of the present invention.

[0049] The automatic feeding device for a decorating robot according to an embodiment of the present invention will be described in detail below with reference to the accompanying drawings.

[0050] like Figure 1 As shown, the automatic feeding device 100 for a decorating robot according to an embodiment of the present invention includes a first feeding mechanism 10, a transfer mechanism 20, a second feeding mechanism 30, a transport mechanism 40 and a controller (not shown).

[0051] Specifically, the first feeding mechanism 10 is used to provide material with a specific flow, the transfer mechanism 20 comprises a rotating table 21 and a first driving mechanism 22 for driving the rotating table 21 to rotate, the rotating table 21 is provided with at least two mounting parts, each mounting part is used to mount a cartridge 50, the second feeding mechanism 30 comprises a material taking part, a second driving mechanism 36 and a feeding assembly connected with the second driving mechanism 36, the conveying mechanism 40 is connected with the second feeding mechanism 30, and the controller is electrically connected with the first feeding mechanism 10, the first driving mechanism 22 and the second driving mechanism 36 and the conveying mechanism 40 respectively.

[0052] When the controller receives the icing instruction, the first driving mechanism 22 is controlled to drive the rotating table 21 to rotate to a first set angle, so that the discharge port of the first feeding mechanism 10 is aligned with a cartridge 50 mounted on the rotating table 21, the controller controls the first feeding mechanism 10 to add a preset amount of material into the aligned cartridge 50, and controls the rotating table 21 to rotate to a second preset angle, so that the cartridge 50 containing the material is aligned with the material taking part of the second feeding mechanism 30, the controller controls the conveying mechanism 40 to drive the material taking part of the second feeding mechanism 30 to abut and engage with the cartridge 50 containing the material, and controls the conveying mechanism 40 to drive the cartridge 50 to separate from the rotating table 21 and move to a specified position, the controller controls the second driving mechanism 36 to drive the feeding assembly to compact the material in the cartridge 50, and then controls the second driving mechanism 36 to drive the feeding assembly to supply the material in the cartridge 50 to the specified position in a timed and quantitative manner.

[0053] According to the automatic feeding device 100 of the icing robot, the first feeding mechanism 10, the second feeding mechanism 30, the transfer mechanism 20, the conveying mechanism 40 and the controller are used to form the feeding device, so that automatic feeding can be realized without manual participation, and the labor intensity of the operator is reduced. Moreover, the controller executes the control instruction, so that accurate automatic feeding can be realized when the robot moves along the icing trajectory of the cake, the positions of the full cartridge 50 and the empty cartridge 50 can be replaced, the cartridge 50 can be quickly replaced, the first feeding mechanism 10 can continuously feed the empty cartridge 50 of the cartridge rotating table 21, the second feeding mechanism 30 can automatically take the material and accurately feed the material at the icing position, the timed and quantitative automatic accurate feeding can be realized, and the efficiency of the feeding is improved in the continuous automatic feeding mode.

[0054] According to one embodiment of the present application, reference is made to Figure 2As shown, the automatic feeding device 100 of the decorating robot further comprises a decorating table 60, which comprises a third driving mechanism 61 and a carrier 62 connected with the third driving mechanism 61. The decorating table 60 is arranged at a position which can be reached by the transport mechanism 40 so that the controller can control the transport mechanism 40 to reach the position. The third driving mechanism 61 is electrically connected with the controller. The controller controls the third driving mechanism 61 to drive the carrier 62 to move, and controls the second driving mechanism 36 to drive the feeding assembly to move, so that the material in the cartridge 50 is fed onto the carrier 62 in a timed and quantitative manner.

[0055] In an embodiment of the present application, the third driving mechanism 61 can be a servo motor. The carrier 62 rotates at a set speed under the control of the servo motor, and the controller controls the second driving mechanism 36 of the second feeding mechanism 30 to drive the feeding assembly to accumulate the material in the cartridge 50, for example, as shown in Figure 2 As shown, the controller controls the servo motor (the second driving mechanism 36) to drive the piston rod 34 to accumulate the material in the cartridge 50, and controls the stroke of the piston rod 34 to control the feeding speed, so as to cooperate with the rotation speed of the carrier 62 to realize the three-dimensional flower 63. This process realizes full automation, does not need manual extrusion, saves time and effort, and greatly improves the decorating efficiency.

[0056] According to an embodiment of the present application, as shown in Figure 1 As shown, the first feeding mechanism 10 comprises a hopper 11, a feeding rod 12 and a fourth driving mechanism 13. The first feeding mechanism is provided with a containing cavity for loading material and a discharge port. The feeding rod 12 is arranged in the containing cavity, and one end of the feeding rod 12 is arranged at the discharge port. The fourth driving mechanism 13 is connected with the other end of the feeding rod 12 and is electrically connected with the controller. When the fourth driving mechanism 13 receives the feeding instruction transmitted by the controller and drives the feeding rod 12 to rotate, the feeding rod 12 can be provided with a propelling helical blade 122, for example, the propelling helical blade 122 is welded on the feeding rod 12 by welding. The propelling helical blade 122 extrudes the material to gradually transport the material from the containing cavity to the discharge port and feeds the cartridge 50. Alternatively, when the fourth driving mechanism 13 receives the instruction of stopping feeding transmitted by the controller, the feeding rod 12 stops rotating to realize the stopping of feeding. The automatic feeding process is realized.

[0057] In an embodiment of the present application, as shown in Figure 1As shown, the first feeding mechanism 10 can further include a first frame 14, a second reducer 15, a second coupling 16, an auxiliary support 17 and a flange bearing 18. The first frame 14 is used to support the hopper 11, the second reducer 15 and the second coupling 16 are connected with the driving shaft of the fourth driving mechanism 13 (for example, a servo motor), the auxiliary support 17 is fixed on the first frame 14 and used to support the second coupling 16, and the flange bearing 18 is arranged on the auxiliary support 17 and the feeding rod 12 passes through the flange bearing 18. Thus, when the fourth driving mechanism 13 drives the feeding rod 12, the feeding rod 12 can be stably rotated at a set rotating speed.

[0058] According to one embodiment of the present application, the feeding rod 12 is provided with stirring blades 121, and specifically, a plurality of stirring blades 121 can be provided, which are used to stir the material in the hopper 11, so as to ensure the uniformity of the material.

[0059] According to one embodiment of the present application, as shown in Figure 1 The transfer mechanism 20 further includes a first reducer 23, which is connected with the driving shaft of the first driving mechanism 22 and used to control the rotating speed, so as to be more conducive to the accurate arrival of the rotating table 21 at the preset position.

[0060] Referring to Figure 3 In one embodiment of the present application, the second feeding mechanism 30 further includes a base 31, one end of the base 31 is fixedly connected with one end of the conveying mechanism 40, the other end is provided with a material taking part, the second driving mechanism 36 is fixed on the base 31, and the feeding assembly is installed on the base 31.

[0061] Referring to Figure 2 and Figure 3 The feeding assembly includes a screw rod 32, a sliding block 33 and a piston rod 34. One end of the screw rod 32 is rotatably connected with the base 31, the other end is connected with the rotating shaft of the second driving mechanism 36, the sliding block 33 is threadedly connected with the screw rod 32, one end of the piston rod 34 is fixedly connected with the sliding block 33, the other end is connected with a piston head 35, the piston head 35 is located on one side of the material taking part and used to compact or push the material in the barrel 50 under the driving of the second driving mechanism 36. The material in the barrel 50 is compacted by the screw rod 32 driving the sliding block 33 and the sliding block 33 driving the piston rod 34, which has a simple structure and can realize automatic extrusion and feeding of low-flow materials, for example, can realize the production of bean paste flower decoration.

[0062] As shown in Figure 2 and 3As shown in the drawings, the screw rod 32 can be a ball screw rod 32, the sliding block 33 can be fixedly connected with the transmission nut 39, and the transmission nut 39 is connected with the ball screw rod 32. The ball screw rod 32 rotates under the driving of the second driving mechanism 36, the transmission nut 39 moves under the thread action and drives the sliding block 33 or the piston rod 34 to move, and then the stroke of the piston rod 34 is controlled by controlling the rotation speed of the second driving mechanism 36, so as to realize the actions of feeding or stopping feeding.

[0063] Referring to Figure 3 As shown in the drawings, the base 31 is provided with at least one guide shaft 37 arranged in parallel with the screw rod, the sliding block 33 is provided with a guide hole, the guide shaft 37 penetrates through the guide hole, and both ends are fixedly connected with the base 31, for limiting the moving direction of the sliding block 33, ensuring that the moving track of the sliding block 33 driving the piston rod 34 will not be deviated, and facilitating accurate and effective feeding.

[0064] Next, the feeding process of the second feeding mechanism 30 will be described by taking the second driving mechanism 36 as a servo motor as an example.

[0065] As shown in Figure 2 and Figure 3 When the servo motor rotates forward, the screw rod 32 nut mechanism composed of the ball screw rod 32 and the transmission nut 39 makes the sliding block 33 move linearly along the guide shaft, and the piston head 35 at the front end of the piston rod 34 moves along the corresponding barrel 50 in the axial direction, so that the filling paste is extruded from the nozzle 52 of the corresponding barrel 50. When the servo motor reverses, along the same mechanical transmission route, the piston rod 34 makes a retreat movement along the corresponding barrel 50, and the feeding is stopped.

[0066] Referring to Figure 3 As shown in the drawings, the automatic feeding device 100 for the piping robot further comprises a first coupling 38, the screw rod 32 is connected with the second driving mechanism 36 through the first coupling 38, so as to realize the connection between the second driving mechanism 36 and the screw rod. In some embodiments, the barrel 50 can be fixed on the turntable 21 through the screw 24.

[0067] Referring to Figure 4 and Figure 5 As shown in the drawings, the material taking part is provided with a flange female head 311, which is used for matching with the flange male head 51 on the barrel 50. The quick change and screw connection mode of the flange male head and the flange female head is beneficial to the quick installation and disassembly of the barrel 50 and the second feeding mechanism 30, and the quick installation and disassembly of the barrel 50 and the second feeding mechanism 30 can be realized through the rotating mode.

[0068] Next, the piping process of the automatic feeding device 100 for the piping robot will be described in combination with the drawings.

[0069] As an example of the transport mechanism 40 as a decorating robot, when the robot receives the decorating instructions from the controller, the first feeding mechanism 10 is started and the bean paste material is extruded to fill the corresponding cartridge 50 on the turntable 21. After loading is completed, the turntable 21 is rotated 180 degrees, and the cartridge 50 filled with material is transferred to the other side, and the empty cartridge 50 is transferred to the position directly below the first feeding mechanism 10. The controller controls the robot end 41 to move to the turntable 21 with the quick-change flange female head 311, and is ready to automatically install the cartridge 50 filled with material. At this time, as shown in Figure 1 , the slider 33 drives the piston rod 34 to be in the original state, and the piston head 35 (disc) at the top of the piston rod 34 does not protrude from the surface of the quick-change flange female head 311. As shown in Figure 4 , the quick-change flange female head 311 is concentrically opposite to the quick-change flange male head 51 on the upper end of the cartridge 50 filled with material, and is rotated counterclockwise at a certain angle from the top, and the installation is completed. The decorating robot vertically extracts the cartridge 50 filled with material, and separates from the work position of the cartridge 50 on the turntable 21. As shown in Figure 2 , the robot moves the cartridge 50 to the decorating table 60, and starts to complete the decorating action according to the instructions from the controller, and controls the second driving mechanism 36 (servo motor) to rotate forward. The second driving mechanism 36 rotates forward at the speed required by the program instructions for a specified stroke, and the coupling drives the driving screw 32 to rotate, and the slider 33 moves forward along the guide shaft, and the piston rod 34 fixed at the bottom end of the threaded slider 33 moves forward together, and the piston at the front end of the piston rod 34 slides in clearance fit with the inner wall of the cartridge 50 filled with material, and extrudes the bean paste material in the cartridge 50, and the bean paste is extruded from the nozzle 52 by the piston of the piston rod 34. In actual use, different nozzle types can be selected according to the needs of making different flowers 63, and different shapes of timed and quantified bean paste can be extruded, and the path action of the robot end 41 is controlled at the same time, and the controller controls the rotating speed of the decorating table 60 according to the shape of the flower 63 as needed, and completes one step of the decorating process. After completing one step, the second driving mechanism 36 immediately stops and reverses a circle to drive the piston rod 34 to retreat a little, release the residual pressure of the bean paste formed by the previous extrusion of the piston rod 34, and realize that the nozzle 52 also stops discharging. When the robot end 41 carries the cartridge 50 to the specified position of the next step, the second driving mechanism 36 starts to work and rotates, and so on, and the path planning of the robot end 41 and the forward and reverse rotation of the decorating turntable 21 are matched, and the production of one flower on the surface of the decorating turntable 21 is accurately completed.

[0070] In some embodiments, one cartridge 50 can only contain 1 to 2 doses of decorating material, and after the production of one flower is completed, as shown in Figure 4 , the robot end 41 moves the cartridge 50 to the position directly above the circular hole of the cartridge turntable 21, and the square columns on both sides of the cartridge 50 are aligned with the square grooves on both sides of the circular hole of the cartridge turntable 21. As shown in Figure 5As shown, the robot end 41 makes the barrel 50 vertically down to the position, the robot end 41 controls the quick-change flange female head 311 to rotate a certain angle in the clockwise direction from the top, the convex column of the barrel 50 contacts the screw 24, the quick-change flange female head 311 is disassembled with the upper end quick-change flange male head 51 of the barrel 50, the robot end 41 vertically lifts the quick-change flange female head 311 to a certain height, and the barrel 50 is completely separated from the quick-change flange female head 311. Another barrel 50 and the corresponding nozzle 52 carried by the other end of the barrel turntable 21 have the same filling process as the above barrel 50 filling process, and when the barrel 50 is filled with material. The barrel turntable 21 rotates 180 degrees to rotate the barrel 50 that has been used and emptied to directly below the first feeding mechanism 10 outlet, and completes the loading of the filling material. The barrel 50 filled with filling material is rotated to directly below the quick-change flange female head 311, the robot end 41 carries the quick-change flange female head 311 and the quick-change flange male head 51 of the barrel 50 filled with material to be installed and matched, and so on. Repeat to realize the continuous automation of the piping process, realize continuous piping, and realize completely automatic three-dimensional piping.

[0071] Therefore, according to the automatic feeding device 100 for the piping robot of the embodiment of the present application. Through the controller executing the control instruction, when the robot moves along the piping trajectory, precise automatic feeding is realized, the position replacement of the full barrel 50 and the empty barrel 50 is realized, and the quick replacement of the barrel 50 is realized. The first feeding mechanism 10 realizes continuous feeding of the empty barrel 50 of the barrel turntable 21, and the second feeding mechanism 30 automatically takes the material and precisely feeds the material at the piping position. Not only the precise feeding of the timing and quantity automation is realized, but also the continuous automatic feeding mode improves the efficiency of the feeding.

[0072] Unless otherwise defined, technical terms or scientific terms used in the present application shall be understood as the usual meaning understood by a person with ordinary skill in the art to which the present application belongs. The terms "first", "second" and the like used in the present application do not represent any order, quantity or importance, but are only used to distinguish different components. The terms "connected" or "connected" and the like are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to represent relative positional relationship, when the absolute position of the described object changes, the relative positional relationship also changes accordingly.

[0073] The above is the preferred embodiment of the present application. It should be pointed out that for ordinary skilled persons in the art, without departing from the principles of the present application, a number of improvements and refinements can be made, which should be considered as the protection scope of the present application.

Claims

1. An automatic feeding device for a decorating robot, characterized in that: include: A first feeding mechanism is used to provide material with a specific fluidity; The transfer mechanism includes a turntable and a first driving mechanism that drives the turntable to rotate, wherein the turntable is provided with at least two mounting portions, each of which is used to mount a barrel; A second feeding mechanism, the second feeding mechanism comprising a material taking portion, a second driving mechanism and a feeding assembly connected to the second driving mechanism; a transport mechanism connected to the second feeding mechanism; a controller, the controller being electrically connected to the first feeding mechanism, the first driving mechanism, the second driving mechanism, and the transport mechanism, respectively; The controller receives a decorating instruction and controls the first driving mechanism to drive the turntable to rotate to a first set angle so that the discharge port of the first feeding mechanism is aligned with a barrel mounted on the turntable; The controller controls the first feeding mechanism to add a preset amount of material into the aligned barrel, and controls the turntable to rotate to a second preset angle so that the barrel filled with material is aligned with the material taking portion of the second feeding mechanism; The controller controls the transport mechanism to drive the material taking part of the second feeding mechanism to dock and engage with the barrel filled with material, and controls the transport mechanism to drive the barrel to separate from the turntable and move to a designated position; After the controller controls the second driving mechanism to drive the feeding assembly to compact the material in the barrel, the controller controls the second driving mechanism to drive the feeding assembly to feed the material in the barrel to the designated position in a timely and quantitative manner.

2. The device according to claim 1, characterized in that Also includes: The decorating table includes a third drive mechanism and a carrier connected to the third drive mechanism. The decorating table is set at the designated position. The third drive mechanism is electrically connected to the controller. The controller controls the third drive mechanism to drive the carrier to move, and controls the second drive mechanism to drive the stroke of the feeding component, so as to feed the material in the barrel onto the carrier in a timely and quantitative manner.

3. The device according to claim 1 or 2, characterized in that The first feeding mechanism comprises: A hopper, provided with a receiving cavity for loading materials and a discharge port; A feeding rod, wherein the feeding rod is arranged in the accommodating cavity, and one end of the feeding rod is arranged at the discharge port; The fourth driving mechanism is connected to the other end of the feeding rod and is electrically connected to the controller, and is used to receive the signal transmitted by the controller and drive the feeding rod to rotate to add or stop adding material to the barrel.

4. The device according to claim 3, characterized in that The feeding rod is provided with a stirring blade for stirring the material in the hopper.

5. The device according to claim 1, characterized in that The transfer agency also includes: A first reducer is connected to the driving shaft of the first driving mechanism and is used to control the rotation speed.

6. The device according to claim 1, characterized in that The second feeding mechanism also includes: A base, one end of the base is fixedly connected to one end of the transport mechanism, the other end is provided with the material taking part, the second driving mechanism is fixed on the base, and the feeding assembly is installed on the base.

7. The device according to claim 6, characterized in that The feeding assembly comprises: a screw, one end of which is rotatably connected to the base, and the other end of which is connected to the rotating shaft of the second driving mechanism; a slider, the slider being threadedly connected to the screw; A piston rod, one end of which is fixedly connected to the slider, and the other end of which is connected to a piston head, wherein the piston head is located on one side of the material taking part and is used to compact or push the material in the barrel under the drive of the second driving mechanism.

8. The device according to claim 7, characterized in that The base is provided with at least one guide shaft arranged parallel to the screw rod, the slider is provided with a guide hole, the guide shaft passes through the guide hole, and both ends are fixedly connected to the base for limiting the moving direction of the slider.

9. The device according to claim 7 or 8, characterized in that Also includes: A first coupling, wherein the screw rod and the second driving mechanism are connected via the first coupling.

10. The device according to claim 1, characterized in that The material taking part is provided with a female flange head, and the female flange head is used to match the male flange head on the barrel.

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